展示会用です
Dependencies: VNH5019
Dependents: Aigamozu_Robot_展示会 Aigamozu_Robot_March Aigamozu_Robot_templete
Fork of AigamozuControlPackets by
AigamozuControlPackets.h@0:2b8b56ac7a82, 2014-05-30 (annotated)
- Committer:
- m5171135
- Date:
- Fri May 30 15:33:50 2014 +0000
- Revision:
- 0:2b8b56ac7a82
- Child:
- 1:80448565c15c
to Mr.watanabe
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
m5171135 | 0:2b8b56ac7a82 | 1 | #include "mbed.h" |
m5171135 | 0:2b8b56ac7a82 | 2 | #include "VNH5019.h" |
m5171135 | 0:2b8b56ac7a82 | 3 | |
m5171135 | 0:2b8b56ac7a82 | 4 | #ifndef AIGAMOZU_CONTROL_PACKETS |
m5171135 | 0:2b8b56ac7a82 | 5 | #define AIGAMOZU_CONTROL_PACKETS |
m5171135 | 0:2b8b56ac7a82 | 6 | |
m5171135 | 0:2b8b56ac7a82 | 7 | #define RECEIVES_GPS_STATUS_LENGTH 32 |
m5171135 | 0:2b8b56ac7a82 | 8 | #define RECEIVES_ACK_LENGTH 13 |
m5171135 | 0:2b8b56ac7a82 | 9 | |
m5171135 | 0:2b8b56ac7a82 | 10 | |
m5171135 | 0:2b8b56ac7a82 | 11 | enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R'}; |
m5171135 | 0:2b8b56ac7a82 | 12 | enum MODE {STANDBY_MODE, MANUAL_MODE,AUTO_MODE}; |
m5171135 | 0:2b8b56ac7a82 | 13 | enum STATUS {NORMAL,BUSY}; |
m5171135 | 0:2b8b56ac7a82 | 14 | |
m5171135 | 0:2b8b56ac7a82 | 15 | union TEST_T{ |
m5171135 | 0:2b8b56ac7a82 | 16 | long a; |
m5171135 | 0:2b8b56ac7a82 | 17 | uint8_t b[4]; |
m5171135 | 0:2b8b56ac7a82 | 18 | }; |
m5171135 | 0:2b8b56ac7a82 | 19 | |
m5171135 | 0:2b8b56ac7a82 | 20 | class AigamozuControlPackets{ |
m5171135 | 0:2b8b56ac7a82 | 21 | |
m5171135 | 0:2b8b56ac7a82 | 22 | public: |
m5171135 | 0:2b8b56ac7a82 | 23 | Ticker randomAxis; |
m5171135 | 0:2b8b56ac7a82 | 24 | |
m5171135 | 0:2b8b56ac7a82 | 25 | //Change |
m5171135 | 0:2b8b56ac7a82 | 26 | |
m5171135 | 0:2b8b56ac7a82 | 27 | //Create Command: Robot -> Controller/Base |
m5171135 | 0:2b8b56ac7a82 | 28 | uint8_t* createStatusPacket(long latitudeH,long latitudeL,long longitudeH,long longitudeL,uint8_t fromID,uint8_t toID); |
m5171135 | 0:2b8b56ac7a82 | 29 | uint8_t* createAckPacket(uint8_t fromID,uint8_t toID); |
m5171135 | 0:2b8b56ac7a82 | 30 | |
m5171135 | 0:2b8b56ac7a82 | 31 | //check Command: |
m5171135 | 0:2b8b56ac7a82 | 32 | uint8_t check(); |
m5171135 | 0:2b8b56ac7a82 | 33 | |
m5171135 | 0:2b8b56ac7a82 | 34 | // |
m5171135 | 0:2b8b56ac7a82 | 35 | bool checkCommandAvilable(COMMAND_TYPE requestCommand); |
m5171135 | 0:2b8b56ac7a82 | 36 | uint8_t checkCommnadType(uint8_t* buf); |
m5171135 | 0:2b8b56ac7a82 | 37 | |
m5171135 | 0:2b8b56ac7a82 | 38 | MODE nowMode; |
m5171135 | 0:2b8b56ac7a82 | 39 | STATUS nowStatus; |
m5171135 | 0:2b8b56ac7a82 | 40 | |
m5171135 | 0:2b8b56ac7a82 | 41 | private: |
m5171135 | 0:2b8b56ac7a82 | 42 | }; |
m5171135 | 0:2b8b56ac7a82 | 43 | |
m5171135 | 0:2b8b56ac7a82 | 44 | #endif |