aigamozu / AigamozuControlPackets_展示会

展示会用です

Dependencies:   VNH5019

Dependents:   Aigamozu_Robot_展示会 Aigamozu_Robot_March Aigamozu_Robot_templete

Fork of AigamozuControlPackets by aigamozu

AigamozuControlPackets.cpp@19:13b24b50800e, 2015-05-13 (annotated)

Committer:
kityann
Date:
Wed May 13 04:08:12 2015 +0000
Revision:
19:13b24b50800e
Parent:
18:01882120e6cf
Child:
20:fec2d6dec897
2015/05/13

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 }
m5171135 5:3f51eeb5aedc 57
kityann 19:13b24b50800e 58 double AigamozuControlPackets::get_basePointKalman_lati(int i){
kityann 19:13b24b50800e 59 return basePointKalman[i].x;
kityann 19:13b24b50800e 60 }
kityann 19:13b24b50800e 61 double AigamozuControlPackets::get_basePointKalman_longi(int i){
kityann 19:13b24b50800e 62 return basePointKalman[i].y;
kityann 19:13b24b50800e 63 }
kityann 19:13b24b50800e 64 double AigamozuControlPackets::get_basePoint_lati(int i){
kityann 19:13b24b50800e 65 return basePoint[i].x;
kityann 19:13b24b50800e 66 }
kityann 19:13b24b50800e 67 double AigamozuControlPackets::get_basePoint_longi(int i){
kityann 19:13b24b50800e 68 return basePoint[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){
kityann 17:a6fa8cc96d94 75 agzCov.x = cov_lati;
kityann 17:a6fa8cc96d94 76 agzCov.y = cov_longi;
kityann 17:a6fa8cc96d94 77 }
kityann 17:a6fa8cc96d94 78 //////////////////////////////
m5171135 2:3f2d4f53ceed 79 // Controller/Base -> Robot //
m5171135 2:3f2d4f53ceed 80 //////////////////////////////
m5171135 4:04dadf67ecb6 81
m5171135 2:3f2d4f53ceed 82 void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR)
m5171135 2:3f2d4f53ceed 83 {
m5171135 2:3f2d4f53ceed 84 uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'};
m5171135 2:3f2d4f53ceed 85 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 86 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 87 }
m5171135 2:3f2d4f53ceed 88
s1200058 9:4f675487f06b 89 void AigamozuControlPackets::createRequestCommand(uint8_t fromID,uint8_t toID)
m5171135 0:2b8b56ac7a82 90 {
m5171135 2:3f2d4f53ceed 91 uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'A','G','E'};
m5171135 2:3f2d4f53ceed 92 for(int i = 0; i < REQUEST_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 93 packetLength = REQUEST_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 94 }
m5171135 0:2b8b56ac7a82 95
m5171135 2:3f2d4f53ceed 96 void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode){
m5171135 2:3f2d4f53ceed 97 uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,mode,'A','G','E'};
m5171135 2:3f2d4f53ceed 98 for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 99 packetLength = CHANGE_MODE_COMMAND_LENGTH;
m5171135 2:3f2d4f53ceed 100 }
m5171135 2:3f2d4f53ceed 101
m5171135 2:3f2d4f53ceed 102
m5171135 2:3f2d4f53ceed 103 //////////////////////////////
m5171135 2:3f2d4f53ceed 104 // Robot -> Controller/Base //
m5171135 2:3f2d4f53ceed 105 //////////////////////////////
m5171135 2:3f2d4f53ceed 106
kityann 17:a6fa8cc96d94 107 void AigamozuControlPackets::createReceiveStatusCommand(uint8_t fromID,uint8_t toID,double latitude,double longitude,double latitudeKalman,double longitudeKalman,double covarLati,double covarLongi)
m5171135 2:3f2d4f53ceed 108 {
kityann 17:a6fa8cc96d94 109 UNION_double_char latitude_data,longitude_data, latitudeKalman_data, longitudeKalman_data;
kityann 17:a6fa8cc96d94 110 UNION_double_char covarLati_data,covarLongi_data;
m5171135 0:2b8b56ac7a82 111
kityann 17:a6fa8cc96d94 112 latitude_data.double_value=latitude;
kityann 17:a6fa8cc96d94 113 longitude_data.double_value=longitude;
kityann 18:01882120e6cf 114 latitudeKalman_data.double_value=latitudeKalman;
kityann 17:a6fa8cc96d94 115 longitudeKalman_data.double_value=longitudeKalman;
kityann 17:a6fa8cc96d94 116 covarLati_data.double_value=covarLati;
kityann 17:a6fa8cc96d94 117 covarLongi_data.double_value=covarLongi;
kityann 18:01882120e6cf 118
kityann 17:a6fa8cc96d94 119 uint8_t tmp[] = {'A','G','S','R','F',fromID,'T',toID,'S',nowMode,71,80,83,
kityann 17:a6fa8cc96d94 120 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 121 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 122 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 123 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 124 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 125 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 126 65,71,69};
m5171135 2:3f2d4f53ceed 127 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 128 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 0:2b8b56ac7a82 129 }
m5171135 0:2b8b56ac7a82 130
kityann 13:a5bc425540a7 131
m5171135 2:3f2d4f53ceed 132
m5171135 2:3f2d4f53ceed 133 //////////////////////////////
m5171135 2:3f2d4f53ceed 134 // Using createPacket //
m5171135 2:3f2d4f53ceed 135 //////////////////////////////
m5171135 4:04dadf67ecb6 136 uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
m5171135 4:04dadf67ecb6 137 return buf[14];
m5171135 4:04dadf67ecb6 138 }
m5171135 2:3f2d4f53ceed 139
m5171135 2:3f2d4f53ceed 140 uint8_t* AigamozuControlPackets::getPacketData(){
m5171135 2:3f2d4f53ceed 141 return packetData;
m5171135 2:3f2d4f53ceed 142 }
m5171135 2:3f2d4f53ceed 143
m5171135 2:3f2d4f53ceed 144 int AigamozuControlPackets::getPacketLength(){
m5171135 2:3f2d4f53ceed 145 return packetLength;
m5171135 0:2b8b56ac7a82 146 }
m5171135 0:2b8b56ac7a82 147
m5171135 5:3f51eeb5aedc 148 void AigamozuControlPackets::changeSpeed(uint8_t* buf){
m5171135 5:3f51eeb5aedc 149 if(nowMode == MANUAL_MODE){
m5171135 5:3f51eeb5aedc 150 manualCount =0;
m5171135 5:3f51eeb5aedc 151 _agzSheild.changeSpeed(buf[20],buf[21],buf[23],buf[24]);
m5171135 5:3f51eeb5aedc 152 }
m5171135 5:3f51eeb5aedc 153 }
m5171135 4:04dadf67ecb6 154
m5171135 6:f164a716be46 155 //////////////////////////////
m5171135 6:f164a716be46 156 // each mode interrupt //
m5171135 6:f164a716be46 157 //////////////////////////////
m5171135 6:f164a716be46 158
m5171135 6:f164a716be46 159 void AigamozuControlPackets::manualMode(){
m5171135 6:f164a716be46 160 manualCount++;
m5171135 6:f164a716be46 161 if(manualCount > 10){
m5171135 6:f164a716be46 162 _agzSheild.changeSpeed(0,0,0,0);
m5171135 6:f164a716be46 163 manualCount = 0;
m5171135 6:f164a716be46 164 }
m5171135 6:f164a716be46 165 }
m5171135 6:f164a716be46 166
m5171135 6:f164a716be46 167
m5171135 5:3f51eeb5aedc 168 void AigamozuControlPackets::randomAuto(){
m5171135 2:3f2d4f53ceed 169
m5171135 5:3f51eeb5aedc 170 randomCount++;
m5171135 5:3f51eeb5aedc 171
m5171135 5:3f51eeb5aedc 172 if(randomCount < 10) _agzSheild.changeSpeed(1,128,1,128);
m5171135 5:3f51eeb5aedc 173 else if(randomCount < 11) _agzSheild.changeSpeed(2,128,2,128);
m5171135 5:3f51eeb5aedc 174 else randomCount = 0;
m5171135 5:3f51eeb5aedc 175
m5171135 5:3f51eeb5aedc 176 }
m5171135 6:f164a716be46 177
m5171135 6:f164a716be46 178 void AigamozuControlPackets::gpsAuto(){
m5171135 5:3f51eeb5aedc 179
kityann 10:e77c664ee5e2 180 /*
kityann 10:e77c664ee5e2 181 _agzSheild.changeSpeed(2,128,2,128):for moving robot
kityann 10:e77c664ee5e2 182 */
kityann 10:e77c664ee5e2 183
kityann 10:e77c664ee5e2 184 Timer Automove_Timer;
kityann 10:e77c664ee5e2 185
kityann 10:e77c664ee5e2 186 bool out_flag = true;
kityann 10:e77c664ee5e2 187 static bool out_count_flag = false;
s1200058 12:eaab0ccb9255 188 int i;
s1200058 12:eaab0ccb9255 189 /*
m5171135 7:200ce5c1f486 190 printf("Check Start\n");
kityann 11:4d71c9cc3b4a 191 printf("agzPoint=%f,%f\n",agzPoint.x,agzPoint.y);
kityann 11:4d71c9cc3b4a 192 printf("bsdrPoint1=%f,%f\n",basePoint[0].x,basePoint[0].y);
kityann 11:4d71c9cc3b4a 193 printf("bsdrPoint2=%f,%f\n",basePoint[1].x,basePoint[1].y);
kityann 11:4d71c9cc3b4a 194 printf("bsdrPoint3=%f,%f\n",basePoint[2].x,basePoint[2].y);
kityann 11:4d71c9cc3b4a 195 printf("bsdrPoint4=%f,%f\n",basePoint[3].x,basePoint[3].y);
s1200058 12:eaab0ccb9255 196 */
kityann 13:a5bc425540a7 197 printf("normal\n");
s1200058 12:eaab0ccb9255 198 printf("-1, %f, %f\n",agzPoint.x,agzPoint.y);
kityann 17:a6fa8cc96d94 199 for(i = 0; i < 5; i++){
s1200058 12:eaab0ccb9255 200 printf(" %d, %f, %f\n", i, basePoint[i].x,basePoint[i].y);
s1200058 12:eaab0ccb9255 201 }
kityann 13:a5bc425540a7 202
kityann 10:e77c664ee5e2 203 if(AigamozuControlPackets::checkGpsHit(basePoint[0],basePoint[1],basePoint[2],agzPoint)){
kityann 10:e77c664ee5e2 204 printf("InArea\n");
kityann 10:e77c664ee5e2 205 out_flag = false;
kityann 10:e77c664ee5e2 206 out_count_flag = false;
kityann 11:4d71c9cc3b4a 207 }else if(AigamozuControlPackets::checkGpsHit(basePoint[2],basePoint[3],basePoint[0],agzPoint)){
kityann 10:e77c664ee5e2 208 printf("InArea\n");
kityann 10:e77c664ee5e2 209 out_flag = false;
kityann 10:e77c664ee5e2 210 out_count_flag = false;
kityann 10:e77c664ee5e2 211 }else{//if robot is out
kityann 10:e77c664ee5e2 212 printf("OutArea\n");
kityann 10:e77c664ee5e2 213 out_flag = true;
m5171135 7:200ce5c1f486 214 }
kityann 13:a5bc425540a7 215 printf("Kalman\n");
kityann 13:a5bc425540a7 216 printf("-1, %f, %f\n",agzPointKalman.x,agzPointKalman.y);
kityann 17:a6fa8cc96d94 217 for(i = 0; i < 5; i++){
kityann 13:a5bc425540a7 218 printf(" %d, %f, %f\n", i, basePointKalman[i].x,basePointKalman[i].y);
kityann 13:a5bc425540a7 219 }
kityann 13:a5bc425540a7 220 if(AigamozuControlPackets::checkGpsHit(basePointKalman[0],basePointKalman[1],basePointKalman[2],agzPointKalman)){
kityann 13:a5bc425540a7 221 printf("InArea\n");
kityann 13:a5bc425540a7 222 //out_flag = false;
kityann 13:a5bc425540a7 223 //out_count_flag = false;
kityann 13:a5bc425540a7 224 }else if(AigamozuControlPackets::checkGpsHit(basePointKalman[2],basePointKalman[3],basePointKalman[0],agzPointKalman)){
kityann 13:a5bc425540a7 225 printf("InArea\n");
kityann 13:a5bc425540a7 226 //out_flag = false;
kityann 13:a5bc425540a7 227 //out_count_flag = false;
kityann 13:a5bc425540a7 228 }else{//if robot is out
kityann 13:a5bc425540a7 229 printf("OutArea\n");
kityann 13:a5bc425540a7 230 //out_flag = true;
kityann 13:a5bc425540a7 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 }
kityann 10:e77c664ee5e2 238 if(out_flag){
kityann 17:a6fa8cc96d94 239 if(Automove_Timer.read_ms() < 5000){
kityann 17:a6fa8cc96d94 240 _agzSheild.changeSpeed(2,64,2,64);//back
kityann 17:a6fa8cc96d94 241 }else if(Automove_Timer.read_ms() < 6000){
kityann 17:a6fa8cc96d94 242 _agzSheild.changeSpeed(1,64,2,64);//straight
kityann 17:a6fa8cc96d94 243 }else if(Automove_Timer.read_ms() >= 6000){
kityann 10:e77c664ee5e2 244 out_count_flag=false;
kityann 13:a5bc425540a7 245 out_flag=false;
kityann 10:e77c664ee5e2 246 }
kityann 10:e77c664ee5e2 247 }else{
kityann 10:e77c664ee5e2 248 //if robot is inner
kityann 10:e77c664ee5e2 249 _agzSheild.changeSpeed(1,64,1,64);//straight
kityann 10:e77c664ee5e2 250 }
kityann 10:e77c664ee5e2 251
kityann 10:e77c664ee5e2 252 }
kityann 10:e77c664ee5e2 253
m5171135 7:200ce5c1f486 254
m5171135 7:200ce5c1f486 255
m5171135 7:200ce5c1f486 256
m5171135 7:200ce5c1f486 257
m5171135 7:200ce5c1f486 258 //Update Robot Point
kityann 11:4d71c9cc3b4a 259 void AigamozuControlPackets::reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
kityann 18:01882120e6cf 260 agzPoint.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
kityann 18:01882120e6cf 261 agzPoint.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
m5171135 7:200ce5c1f486 262
m5171135 7:200ce5c1f486 263 }
kityann 11:4d71c9cc3b4a 264
kityann 11:4d71c9cc3b4a 265 //Updata Base Point
kityann 19:13b24b50800e 266 void AigamozuControlPackets::reNewBasePoint(int id, uint8_t *latitude,uint8_t *longitude){
kityann 19:13b24b50800e 267 UNION_double_char lat,longi;
kityann 19:13b24b50800e 268 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 269 lat.char_value[i]=latitude[i];
kityann 19:13b24b50800e 270 }
kityann 19:13b24b50800e 271 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 272 longi.char_value[i]=longitude[i];
kityann 19:13b24b50800e 273 }
kityann 19:13b24b50800e 274 basePoint[id].x = lat.double_value;
kityann 19:13b24b50800e 275 basePoint[id].y = longi.double_value;
kityann 11:4d71c9cc3b4a 276 }
m5171135 7:200ce5c1f486 277
kityann 13:a5bc425540a7 278 //Update Robot Point
kityann 13:a5bc425540a7 279 void AigamozuControlPackets::reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
kityann 18:01882120e6cf 280 agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
kityann 18:01882120e6cf 281 agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
kityann 13:a5bc425540a7 282
kityann 13:a5bc425540a7 283 }
kityann 13:a5bc425540a7 284
kityann 13:a5bc425540a7 285 //Updata Base Point
kityann 19:13b24b50800e 286 void AigamozuControlPackets::reNewBasePointKalman(int id, uint8_t *latitude,uint8_t *longitude){
kityann 19:13b24b50800e 287 UNION_double_char lat,longi;
kityann 19:13b24b50800e 288 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 289 lat.char_value[i]=latitude[i];
kityann 19:13b24b50800e 290 }
kityann 19:13b24b50800e 291 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 292 longi.char_value[i]=longitude[i];
kityann 19:13b24b50800e 293 }
kityann 19:13b24b50800e 294
kityann 19:13b24b50800e 295 basePointKalman[id].x = lat.double_value;
kityann 19:13b24b50800e 296 basePointKalman[id].y = longi.double_value;
kityann 13:a5bc425540a7 297 }
kityann 13:a5bc425540a7 298
m5171135 7:200ce5c1f486 299
m5171135 7:200ce5c1f486 300 //Check Hit Point Area
m5171135 7:200ce5c1f486 301 bool AigamozuControlPackets::checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P){
m5171135 7:200ce5c1f486 302 vector2D AB = AigamozuControlPackets::sub_vector(B, A);
m5171135 7:200ce5c1f486 303 vector2D BP = AigamozuControlPackets::sub_vector(P, B);
m5171135 7:200ce5c1f486 304
m5171135 7:200ce5c1f486 305 vector2D BC = AigamozuControlPackets::sub_vector(C, B);
m5171135 7:200ce5c1f486 306 vector2D CP = AigamozuControlPackets::sub_vector(P, C);
m5171135 7:200ce5c1f486 307
m5171135 7:200ce5c1f486 308 vector2D CA = AigamozuControlPackets::sub_vector(A, C);
m5171135 7:200ce5c1f486 309 vector2D AP = AigamozuControlPackets::sub_vector(P, A);
m5171135 7:200ce5c1f486 310
m5171135 7:200ce5c1f486 311 double c1 = AB.x * BP.y - AB.y * BP.x;
m5171135 7:200ce5c1f486 312 double c2 = BC.x * CP.y - BC.y * CP.x;
m5171135 7:200ce5c1f486 313 double c3 = CA.x * AP.y - CA.y * AP.x;
m5171135 7:200ce5c1f486 314
m5171135 7:200ce5c1f486 315 if( ( c1 > 0 && c2 > 0 && c3 > 0 ) || ( c1 < 0 && c2 < 0 && c3 < 0 ) ) {
m5171135 7:200ce5c1f486 316 return true;
m5171135 5:3f51eeb5aedc 317 }
m5171135 6:f164a716be46 318
m5171135 7:200ce5c1f486 319 return false;
m5171135 7:200ce5c1f486 320
m5171135 7:200ce5c1f486 321 }
m5171135 7:200ce5c1f486 322
m5171135 7:200ce5c1f486 323 vector2D AigamozuControlPackets::sub_vector( const vector2D& a, const vector2D& b )
m5171135 7:200ce5c1f486 324 {
m5171135 7:200ce5c1f486 325 vector2D ret;
m5171135 7:200ce5c1f486 326 ret.x = a.x - b.x;
m5171135 7:200ce5c1f486 327 ret.y = a.y - b.y;
m5171135 7:200ce5c1f486 328 return ret;
m5171135 7:200ce5c1f486 329 }
m5171135 7:200ce5c1f486 330
m5171135 7:200ce5c1f486 331
m5171135 7:200ce5c1f486 332
m5171135 5:3f51eeb5aedc 333
m5171135 6:f164a716be46 334 //////////////////////////////
m5171135 6:f164a716be46 335 // Mode change //
m5171135 6:f164a716be46 336 //////////////////////////////
m5171135 2:3f2d4f53ceed 337 bool AigamozuControlPackets::changeMode(uint8_t *buf){
m5171135 2:3f2d4f53ceed 338
m5171135 6:f164a716be46 339 //reset
m5171135 5:3f51eeb5aedc 340 _agzSheild.changeSpeed(0,0,0,0);
m5171135 6:f164a716be46 341 eachModeInt.detach();
m5171135 5:3f51eeb5aedc 342
m5171135 6:f164a716be46 343 //Select Mode
m5171135 2:3f2d4f53ceed 344 switch(buf[19]){
m5171135 2:3f2d4f53ceed 345 case 0:
m5171135 2:3f2d4f53ceed 346 nowMode = STANDBY_MODE;
m5171135 2:3f2d4f53ceed 347 break;
m5171135 2:3f2d4f53ceed 348
m5171135 2:3f2d4f53ceed 349 case 1:
m5171135 6:f164a716be46 350 eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0);
m5171135 2:3f2d4f53ceed 351 nowMode = MANUAL_MODE;
m5171135 2:3f2d4f53ceed 352 break;
m5171135 2:3f2d4f53ceed 353
m5171135 2:3f2d4f53ceed 354 case 2:
kityann 11:4d71c9cc3b4a 355 //nowMode = AUTO_MODE;
kityann 11:4d71c9cc3b4a 356 //eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0);
kityann 14:e441331aa4a1 357 eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,2.0);
kityann 11:4d71c9cc3b4a 358 nowMode = AUTO_GPS_MODE;
m5171135 2:3f2d4f53ceed 359 break;
m5171135 4:04dadf67ecb6 360
m5171135 4:04dadf67ecb6 361 case 3:
kityann 10:e77c664ee5e2 362 eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,0.2);
m5171135 4:04dadf67ecb6 363 nowMode = AUTO_GPS_MODE;
m5171135 4:04dadf67ecb6 364 break;
m5171135 4:04dadf67ecb6 365
m5171135 6:f164a716be46 366 default:
m5171135 6:f164a716be46 367 nowMode = STANDBY_MODE;
m5171135 6:f164a716be46 368 break;
m5171135 5:3f51eeb5aedc 369
m5171135 2:3f2d4f53ceed 370 }
m5171135 2:3f2d4f53ceed 371 return false;
m5171135 2:3f2d4f53ceed 372 }
m5171135 5:3f51eeb5aedc 373
m5171135 5:3f51eeb5aedc 374
m5171135 2:3f2d4f53ceed 375