Diff: AigamozuControlPackets.cpp

Revision:

6:f164a716be46

Parent:

5:3f51eeb5aedc

Child:

7:200ce5c1f486

--- a/AigamozuControlPackets.cpp	Sun Jun 08 15:09:02 2014 +0000
+++ b/AigamozuControlPackets.cpp	Mon Jun 09 00:16:38 2014 +0000
@@ -1,7 +1,9 @@
 #include "AigamozuControlPackets.h"
 #include "VNH5019.h"
 
-
+//////////////////////////////
+//          Init            //
+//////////////////////////////
 AigamozuControlPackets::AigamozuControlPackets(VNH5019 agzSheild):_agzSheild(agzSheild){
     packetData = new uint8_t[50];
     packetLength = 0;
@@ -75,6 +77,19 @@
         }
     }
 
+//////////////////////////////
+//   each mode interrupt    //
+//////////////////////////////
+
+void AigamozuControlPackets::manualMode(){
+    manualCount++;
+    if(manualCount > 10){
+        _agzSheild.changeSpeed(0,0,0,0);
+        manualCount = 0;
+        }
+    }
+
+
 void AigamozuControlPackets::randomAuto(){
     
     randomCount++;
@@ -84,42 +99,45 @@
     else randomCount = 0;
     
     }
+
+void AigamozuControlPackets::gpsAuto(){
     
-void AigamozuControlPackets::manualMode(){
-    manualCount++;
-    if(manualCount > 10){
-        _agzSheild.changeSpeed(0,0,0,0);
-        manualCount = 0;
-        }
     }
+    
 
+//////////////////////////////
+//     Mode change          //
+//////////////////////////////
 bool AigamozuControlPackets::changeMode(uint8_t *buf){
     
+    //reset
     _agzSheild.changeSpeed(0,0,0,0);
-    hoge.detach();
+    eachModeInt.detach();
 
+    //Select Mode
     switch(buf[19]){
-        
         case 0:
             nowMode = STANDBY_MODE;
         break;
         
         case 1:
-            hoge.attach(this,&AigamozuControlPackets::manualMode,1.0);
+            eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0);
             nowMode = MANUAL_MODE;
         break;
         
         case 2:
             nowMode = AUTO_MODE;
-            hoge.attach(this,&AigamozuControlPackets::randomAuto,1.0);
-
+            eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0);
         break;
         
         case 3:
+            eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,2.0);
             nowMode = AUTO_GPS_MODE;
         break;
         
-        
+        default:
+            nowMode = STANDBY_MODE;
+        break;
         
         }
     return false;