Diff: AigamozuControlPackets.h

Revision:

4:04dadf67ecb6

Parent:

2:3f2d4f53ceed

Child:

5:3f51eeb5aedc

--- a/AigamozuControlPackets.h	Sun Jun 08 09:44:19 2014 +0000
+++ b/AigamozuControlPackets.h	Sun Jun 08 11:54:53 2014 +0000
@@ -10,7 +10,7 @@
 #define RECEIVE_STATUS_COMMNAD_LENGTH 32
 
 enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R'};
-enum MODE {STANDBY_MODE = 0, MANUAL_MODE = 1,AUTO_MODE = 2};
+enum MODE {STANDBY_MODE = 0, MANUAL_MODE = 1,AUTO_MODE = 2,AUTO_GPS_MODE = 3};
 enum STATUS {GPS_AVAIL = 0, GPS_UNAVAIL = 1};
 
 union TEST_T{
@@ -18,19 +18,11 @@
     uint8_t b[4];
     };
     
-/////////////////////////////////////////
-//
-//Interruption processing 1: time -> 0.1s
-//
-/////////////////////////////////////////
 
 class AigamozuControlPackets{
     
     public:
-    AigamozuControlPackets();
-    
-    
-    Ticker autoInt;
+    AigamozuControlPackets(Ticker autoInt);
     
     uint8_t* packetData;
     //Create Packet: Controller/Base -> Robot 
@@ -46,9 +38,6 @@
     uint8_t* getPacketData();
     int getPacketLength();
     
-    
-    //------
-    
     //Change Mode: 
     bool changeMode(uint8_t *buf); 
         
@@ -56,16 +45,12 @@
     bool checkCommandAvilable(COMMAND_TYPE requestCommand);
     uint8_t checkCommnadType(uint8_t* buf);
     
-    
     MODE nowMode;
     STATUS nowStatus;
-
+    int packetLength;
+    
+    
     private:
-    int packetLength;
-     
-     
-     
-    
     };
     
 #endif
\ No newline at end of file