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@38:c1948f13578d, 2015-06-05 (annotated)

Committer:
kityann
Date:
Fri Jun 05 03:46:56 2015 +0000
Revision:
38:c1948f13578d
Parent:
37:93ba352b0395
Child:
39:172423aa2921
2015/06/05

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){
s1200058 35:b33b8b2a92b0 75 agzCov.x = cov_lati;
s1200058 35:b33b8b2a92b0 76 agzCov.y = cov_longi;
kityann 17:a6fa8cc96d94 77 }
s1200058 20:fec2d6dec897 78
s1200058 34:08491a77e458 79 void AigamozuControlPackets::set_agzPointKalman_lati(double kalman_lati){
s1200058 34:08491a77e458 80
s1200058 34:08491a77e458 81 agzPointKalman.x = kalman_lati;
s1200058 34:08491a77e458 82
s1200058 34:08491a77e458 83 }
s1200058 34:08491a77e458 84
s1200058 34:08491a77e458 85 void AigamozuControlPackets::set_agzPointKalman_longi(double kalman_longi){
s1200058 34:08491a77e458 86
s1200058 34:08491a77e458 87 agzPointKalman.y = kalman_longi;
s1200058 34:08491a77e458 88
s1200058 20:fec2d6dec897 89 }
s1200058 20:fec2d6dec897 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 32:cd68a37d1ee1 191
s1210160 37:93ba352b0395 192 void AigamozuControlPackets::control_Motor(int flag){
s1200058 32:cd68a37d1ee1 193
s1200058 32:cd68a37d1ee1 194 if(flag == 0){
s1200058 32:cd68a37d1ee1 195 _agzSheild.changeSpeed(1, 64, 1, 64); //straight
kityann 38:c1948f13578d 196 motor_command = 'f';
s1200058 32:cd68a37d1ee1 197 }
s1200058 32:cd68a37d1ee1 198 if(flag == 1){
s1200058 32:cd68a37d1ee1 199 _agzSheild.changeSpeed(0, 64, 0, 64);
kityann 38:c1948f13578d 200 motor_command = 's';
s1200058 32:cd68a37d1ee1 201 }
s1200058 32:cd68a37d1ee1 202 if(flag == 2){
s1200058 32:cd68a37d1ee1 203 _agzSheild.changeSpeed(1, 64, 2, 64); //Turn Right
kityann 38:c1948f13578d 204 motor_command = 'r';
s1200058 32:cd68a37d1ee1 205 }
s1200058 32:cd68a37d1ee1 206 if(flag == 3){
s1210160 37:93ba352b0395 207 _agzSheild.changeSpeed(2, 64, 2, 64);
kityann 38:c1948f13578d 208 motor_command = 'b';
s1200058 32:cd68a37d1ee1 209 }
s1200058 32:cd68a37d1ee1 210 }
s1200058 32:cd68a37d1ee1 211
s1200058 20:fec2d6dec897 212 bool AigamozuControlPackets::gpsAuto(){
m5171135 5:3f51eeb5aedc 213
kityann 10:e77c664ee5e2 214 /*
kityann 10:e77c664ee5e2 215 _agzSheild.changeSpeed(2,128,2,128):for moving robot
kityann 10:e77c664ee5e2 216 */
kityann 10:e77c664ee5e2 217
kityann 10:e77c664ee5e2 218 Timer Automove_Timer;
kityann 10:e77c664ee5e2 219
kityann 10:e77c664ee5e2 220 bool out_flag = true;
kityann 10:e77c664ee5e2 221 static bool out_count_flag = false;
kityann 13:a5bc425540a7 222
s1200058 20:fec2d6dec897 223 if(AigamozuControlPackets::checkGpsHit(basePointKalman[0],basePointKalman[1],basePointKalman[2],agzPointKalman)){
kityann 10:e77c664ee5e2 224 out_flag = false;
kityann 10:e77c664ee5e2 225 out_count_flag = false;
s1200058 20:fec2d6dec897 226 }else if(AigamozuControlPackets::checkGpsHit(basePointKalman[2],basePointKalman[3],basePointKalman[0],agzPointKalman)){
kityann 10:e77c664ee5e2 227 out_flag = false;
kityann 10:e77c664ee5e2 228 out_count_flag = false;
kityann 10:e77c664ee5e2 229 }else{//if robot is out
kityann 10:e77c664ee5e2 230 out_flag = true;
m5171135 7:200ce5c1f486 231 }
m5171135 7:200ce5c1f486 232
kityann 10:e77c664ee5e2 233 //if robot is out:
kityann 10:e77c664ee5e2 234 if(out_flag == true || out_count_flag == false){
kityann 10:e77c664ee5e2 235 Automove_Timer.reset();
kityann 10:e77c664ee5e2 236 out_count_flag = true;
kityann 10:e77c664ee5e2 237 }
s1200058 32:cd68a37d1ee1 238 /* if(nowMode == AUTO_GPS_MODE){
s1200058 32:cd68a37d1ee1 239
s1200058 32:cd68a37d1ee1 240 if(out_flag){
kityann 17:a6fa8cc96d94 241 if(Automove_Timer.read_ms() < 5000){
kityann 17:a6fa8cc96d94 242 _agzSheild.changeSpeed(2,64,2,64);//back
kityann 17:a6fa8cc96d94 243 }else if(Automove_Timer.read_ms() < 6000){
s1200058 32:cd68a37d1ee1 244 _agzSheild.changeSpeed(1,64,1,64);//straight
kityann 17:a6fa8cc96d94 245 }else if(Automove_Timer.read_ms() >= 6000){
kityann 10:e77c664ee5e2 246 out_count_flag=false;
kityann 13:a5bc425540a7 247 out_flag=false;
kityann 10:e77c664ee5e2 248 }
kityann 10:e77c664ee5e2 249 }else{
kityann 10:e77c664ee5e2 250 //if robot is inner
kityann 10:e77c664ee5e2 251 _agzSheild.changeSpeed(1,64,1,64);//straight
kityann 10:e77c664ee5e2 252 }
s1200058 32:cd68a37d1ee1 253 }
s1200058 32:cd68a37d1ee1 254 */
s1200058 20:fec2d6dec897 255 return out_flag;
kityann 10:e77c664ee5e2 256
kityann 10:e77c664ee5e2 257 }
m5171135 7:200ce5c1f486 258
m5171135 7:200ce5c1f486 259
m5171135 7:200ce5c1f486 260 //Update Robot Point
kityann 11:4d71c9cc3b4a 261 void AigamozuControlPackets::reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
kityann 18:01882120e6cf 262 agzPoint.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
kityann 18:01882120e6cf 263 agzPoint.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
m5171135 7:200ce5c1f486 264
m5171135 7:200ce5c1f486 265 }
kityann 11:4d71c9cc3b4a 266
kityann 11:4d71c9cc3b4a 267 //Updata Base Point
kityann 19:13b24b50800e 268 void AigamozuControlPackets::reNewBasePoint(int id, uint8_t *latitude,uint8_t *longitude){
kityann 19:13b24b50800e 269 UNION_double_char lat,longi;
kityann 19:13b24b50800e 270 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 271 lat.char_value[i]=latitude[i];
kityann 19:13b24b50800e 272 }
kityann 19:13b24b50800e 273 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 274 longi.char_value[i]=longitude[i];
kityann 19:13b24b50800e 275 }
kityann 19:13b24b50800e 276 basePoint[id].x = lat.double_value;
kityann 19:13b24b50800e 277 basePoint[id].y = longi.double_value;
kityann 11:4d71c9cc3b4a 278 }
m5171135 7:200ce5c1f486 279
kityann 13:a5bc425540a7 280 //Update Robot Point
kityann 13:a5bc425540a7 281 void AigamozuControlPackets::reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
kityann 18:01882120e6cf 282 agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
kityann 18:01882120e6cf 283 agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
kityann 13:a5bc425540a7 284
kityann 13:a5bc425540a7 285 }
kityann 13:a5bc425540a7 286
kityann 13:a5bc425540a7 287 //Updata Base Point
kityann 19:13b24b50800e 288 void AigamozuControlPackets::reNewBasePointKalman(int id, uint8_t *latitude,uint8_t *longitude){
kityann 19:13b24b50800e 289 UNION_double_char lat,longi;
kityann 19:13b24b50800e 290 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 291 lat.char_value[i]=latitude[i];
kityann 19:13b24b50800e 292 }
kityann 19:13b24b50800e 293 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 294 longi.char_value[i]=longitude[i];
kityann 19:13b24b50800e 295 }
kityann 19:13b24b50800e 296
kityann 19:13b24b50800e 297 basePointKalman[id].x = lat.double_value;
kityann 19:13b24b50800e 298 basePointKalman[id].y = longi.double_value;
s1200058 31:8753fbab3f1f 299 }
kityann 13:a5bc425540a7 300
m5171135 7:200ce5c1f486 301
m5171135 7:200ce5c1f486 302 //Check Hit Point Area
m5171135 7:200ce5c1f486 303 bool AigamozuControlPackets::checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P){
m5171135 7:200ce5c1f486 304 vector2D AB = AigamozuControlPackets::sub_vector(B, A);
m5171135 7:200ce5c1f486 305 vector2D BP = AigamozuControlPackets::sub_vector(P, B);
m5171135 7:200ce5c1f486 306
m5171135 7:200ce5c1f486 307 vector2D BC = AigamozuControlPackets::sub_vector(C, B);
m5171135 7:200ce5c1f486 308 vector2D CP = AigamozuControlPackets::sub_vector(P, C);
m5171135 7:200ce5c1f486 309
m5171135 7:200ce5c1f486 310 vector2D CA = AigamozuControlPackets::sub_vector(A, C);
m5171135 7:200ce5c1f486 311 vector2D AP = AigamozuControlPackets::sub_vector(P, A);
m5171135 7:200ce5c1f486 312
m5171135 7:200ce5c1f486 313 double c1 = AB.x * BP.y - AB.y * BP.x;
m5171135 7:200ce5c1f486 314 double c2 = BC.x * CP.y - BC.y * CP.x;
m5171135 7:200ce5c1f486 315 double c3 = CA.x * AP.y - CA.y * AP.x;
m5171135 7:200ce5c1f486 316
m5171135 7:200ce5c1f486 317 if( ( c1 > 0 && c2 > 0 && c3 > 0 ) || ( c1 < 0 && c2 < 0 && c3 < 0 ) ) {
m5171135 7:200ce5c1f486 318 return true;
m5171135 5:3f51eeb5aedc 319 }
m5171135 6:f164a716be46 320
m5171135 7:200ce5c1f486 321 return false;
m5171135 7:200ce5c1f486 322
m5171135 7:200ce5c1f486 323 }
m5171135 7:200ce5c1f486 324
m5171135 7:200ce5c1f486 325 vector2D AigamozuControlPackets::sub_vector( const vector2D& a, const vector2D& b )
m5171135 7:200ce5c1f486 326 {
m5171135 7:200ce5c1f486 327 vector2D ret;
m5171135 7:200ce5c1f486 328 ret.x = a.x - b.x;
m5171135 7:200ce5c1f486 329 ret.y = a.y - b.y;
m5171135 7:200ce5c1f486 330 return ret;
m5171135 7:200ce5c1f486 331 }
m5171135 7:200ce5c1f486 332
m5171135 7:200ce5c1f486 333
m5171135 7:200ce5c1f486 334
m5171135 5:3f51eeb5aedc 335
m5171135 6:f164a716be46 336 //////////////////////////////
m5171135 6:f164a716be46 337 // Mode change //
m5171135 6:f164a716be46 338 //////////////////////////////
m5171135 2:3f2d4f53ceed 339 bool AigamozuControlPackets::changeMode(uint8_t *buf){
m5171135 2:3f2d4f53ceed 340
m5171135 6:f164a716be46 341 //reset
m5171135 5:3f51eeb5aedc 342 _agzSheild.changeSpeed(0,0,0,0);
m5171135 6:f164a716be46 343 eachModeInt.detach();
m5171135 5:3f51eeb5aedc 344
m5171135 6:f164a716be46 345 //Select Mode
s1200058 29:3a2d87c10e43 346 switch(buf[19]){
m5171135 2:3f2d4f53ceed 347 case 0:
m5171135 2:3f2d4f53ceed 348 nowMode = STANDBY_MODE;
m5171135 2:3f2d4f53ceed 349 break;
m5171135 2:3f2d4f53ceed 350
m5171135 2:3f2d4f53ceed 351 case 1:
m5171135 6:f164a716be46 352 eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0);
m5171135 2:3f2d4f53ceed 353 nowMode = MANUAL_MODE;
m5171135 2:3f2d4f53ceed 354 break;
m5171135 2:3f2d4f53ceed 355
m5171135 2:3f2d4f53ceed 356 case 2:
kityann 11:4d71c9cc3b4a 357 //nowMode = AUTO_MODE;
kityann 11:4d71c9cc3b4a 358 //eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0);
s1200058 20:fec2d6dec897 359 //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,2.0);
kityann 11:4d71c9cc3b4a 360 nowMode = AUTO_GPS_MODE;
s1200058 33:c11a9cb35840 361 Move_Timer.reset();
m5171135 2:3f2d4f53ceed 362 break;
m5171135 4:04dadf67ecb6 363
m5171135 4:04dadf67ecb6 364 case 3:
s1200058 20:fec2d6dec897 365 //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,0.2);
m5171135 4:04dadf67ecb6 366 nowMode = AUTO_GPS_MODE;
s1200058 33:c11a9cb35840 367 Move_Timer.reset();
m5171135 4:04dadf67ecb6 368 break;
m5171135 4:04dadf67ecb6 369
m5171135 6:f164a716be46 370 default:
m5171135 6:f164a716be46 371 nowMode = STANDBY_MODE;
m5171135 6:f164a716be46 372 break;
m5171135 5:3f51eeb5aedc 373
m5171135 2:3f2d4f53ceed 374 }
m5171135 2:3f2d4f53ceed 375 return false;
m5171135 2:3f2d4f53ceed 376 }
m5171135 5:3f51eeb5aedc 377
m5171135 5:3f51eeb5aedc 378
m5171135 2:3f2d4f53ceed 379