Diff: AigamozuControlPackets.cpp

Revision:

4:04dadf67ecb6

Parent:

2:3f2d4f53ceed

Child:

5:3f51eeb5aedc

--- a/AigamozuControlPackets.cpp	Sun Jun 08 09:44:19 2014 +0000
+++ b/AigamozuControlPackets.cpp	Sun Jun 08 11:54:53 2014 +0000
@@ -2,17 +2,16 @@
 #include "VNH5019.h"
 
 
-AigamozuControlPackets::AigamozuControlPackets(){
+AigamozuControlPackets::AigamozuControlPackets(Ticker autoInt){
     packetData = new uint8_t[50];
     packetLength = 0;
     
     }
 
-
-
 //////////////////////////////
 // Controller/Base -> Robot //
 //////////////////////////////
+
  void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR)
  {         
     uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'};
@@ -57,6 +56,9 @@
 //////////////////////////////
 //    Using createPacket    //
 //////////////////////////////
+uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
+    return buf[14];
+    }
 
 uint8_t* AigamozuControlPackets::getPacketData(){
     return packetData;
@@ -66,9 +68,7 @@
         return packetLength;
     }
 
-uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
-    return buf[14];
-    }
+
     
 bool AigamozuControlPackets::changeMode(uint8_t *buf){
     
@@ -85,6 +85,11 @@
         case 2:
             nowMode = AUTO_MODE;
         break;
+        
+        case 3:
+            nowMode = AUTO_GPS_MODE;
+        break;
+        
         }
     return false;
 }