Diff: AigamozuControlPackets.h

Revision:

2:3f2d4f53ceed

Parent:

1:80448565c15c

Child:

3:282dad679fca

Child:

4:04dadf67ecb6

--- a/AigamozuControlPackets.h	Wed Jun 04 09:12:20 2014 +0000
+++ b/AigamozuControlPackets.h	Sun Jun 08 09:44:19 2014 +0000
@@ -4,9 +4,10 @@
 #ifndef AIGAMOZU_CONTROL_PACKETS
 #define AIGAMOZU_CONTROL_PACKETS
 
-#define RECEIVES_GPS_STATUS_LENGTH 32
-#define RECEIVES_ACK_LENGTH 13
-
+#define MANUAL_COMMAND_LENGTH 17
+#define REQUEST_COMMNAD_LENGTH 11
+#define CHANGE_MODE_COMMAND_LENGTH 12
+#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};
@@ -16,29 +17,55 @@
     long a;
     uint8_t b[4];
     };
+    
+/////////////////////////////////////////
+//
+//Interruption processing 1: time -> 0.1s
+//
+/////////////////////////////////////////
 
 class AigamozuControlPackets{
     
     public:
-    Ticker randomAxis;
+    AigamozuControlPackets();
+    
+    
+    Ticker autoInt;
     
-    //Change
+    uint8_t* packetData;
+    //Create Packet: Controller/Base -> Robot 
+    void createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR);
+    void createRequestCommand(uint8_t fromID,uint8_t toID,uint8_t);
+    void createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode);
     
-    //Create Command: Robot -> Controller/Base 
-    uint8_t* createStatusPacket(long latitudeH,long latitudeL,long longitudeH,long longitudeL,uint8_t fromID,uint8_t toID);
-    uint8_t* createAckPacket(uint8_t fromID,uint8_t toID);
+    //Create Packet: Robot -> Controller/Base 
+    void createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL);
+    //uint8_t* createAckPacket(uint8_t fromID,uint8_t toID);
     
-    //check Command: 
-    uint8_t check(); 
+    //using create packet
+    uint8_t* getPacketData();
+    int getPacketLength();
+    
+    
+    //------
+    
+    //Change Mode: 
+    bool changeMode(uint8_t *buf); 
         
     //
     bool checkCommandAvilable(COMMAND_TYPE requestCommand);
     uint8_t checkCommnadType(uint8_t* buf);
     
+    
     MODE nowMode;
     STATUS nowStatus;
-        
+
     private:
+    int packetLength;
+     
+     
+     
+    
     };
     
 #endif
\ No newline at end of file