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@5:3f51eeb5aedc, 2014-06-08 (annotated)
- Committer:
- m5171135
- Date:
- Sun Jun 08 15:09:02 2014 +0000
- Revision:
- 5:3f51eeb5aedc
- Parent:
- 4:04dadf67ecb6
- Child:
- 6:f164a716be46
ver 2,0
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 | 2:3f2d4f53ceed | 7 | #define MANUAL_COMMAND_LENGTH 17 |
m5171135 | 2:3f2d4f53ceed | 8 | #define REQUEST_COMMNAD_LENGTH 11 |
m5171135 | 2:3f2d4f53ceed | 9 | #define CHANGE_MODE_COMMAND_LENGTH 12 |
m5171135 | 2:3f2d4f53ceed | 10 | #define RECEIVE_STATUS_COMMNAD_LENGTH 32 |
m5171135 | 0:2b8b56ac7a82 | 11 | |
m5171135 | 0:2b8b56ac7a82 | 12 | enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R'}; |
m5171135 | 4:04dadf67ecb6 | 13 | enum MODE {STANDBY_MODE = 0, MANUAL_MODE = 1,AUTO_MODE = 2,AUTO_GPS_MODE = 3}; |
m5171135 | 1:80448565c15c | 14 | enum STATUS {GPS_AVAIL = 0, GPS_UNAVAIL = 1}; |
m5171135 | 0:2b8b56ac7a82 | 15 | |
m5171135 | 0:2b8b56ac7a82 | 16 | union TEST_T{ |
m5171135 | 0:2b8b56ac7a82 | 17 | long a; |
m5171135 | 0:2b8b56ac7a82 | 18 | uint8_t b[4]; |
m5171135 | 0:2b8b56ac7a82 | 19 | }; |
m5171135 | 2:3f2d4f53ceed | 20 | |
m5171135 | 0:2b8b56ac7a82 | 21 | |
m5171135 | 5:3f51eeb5aedc | 22 | |
m5171135 | 5:3f51eeb5aedc | 23 | |
m5171135 | 0:2b8b56ac7a82 | 24 | class AigamozuControlPackets{ |
m5171135 | 0:2b8b56ac7a82 | 25 | |
m5171135 | 0:2b8b56ac7a82 | 26 | public: |
m5171135 | 5:3f51eeb5aedc | 27 | AigamozuControlPackets(VNH5019 agzSheild); |
m5171135 | 5:3f51eeb5aedc | 28 | |
m5171135 | 5:3f51eeb5aedc | 29 | Ticker hoge; |
m5171135 | 0:2b8b56ac7a82 | 30 | |
m5171135 | 2:3f2d4f53ceed | 31 | uint8_t* packetData; |
m5171135 | 2:3f2d4f53ceed | 32 | //Create Packet: Controller/Base -> Robot |
m5171135 | 2:3f2d4f53ceed | 33 | void createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR); |
m5171135 | 2:3f2d4f53ceed | 34 | void createRequestCommand(uint8_t fromID,uint8_t toID,uint8_t); |
m5171135 | 2:3f2d4f53ceed | 35 | void createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode); |
m5171135 | 0:2b8b56ac7a82 | 36 | |
m5171135 | 2:3f2d4f53ceed | 37 | //Create Packet: Robot -> Controller/Base |
m5171135 | 2:3f2d4f53ceed | 38 | void createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL); |
m5171135 | 2:3f2d4f53ceed | 39 | //uint8_t* createAckPacket(uint8_t fromID,uint8_t toID); |
m5171135 | 0:2b8b56ac7a82 | 40 | |
m5171135 | 2:3f2d4f53ceed | 41 | //using create packet |
m5171135 | 2:3f2d4f53ceed | 42 | uint8_t* getPacketData(); |
m5171135 | 2:3f2d4f53ceed | 43 | int getPacketLength(); |
m5171135 | 2:3f2d4f53ceed | 44 | |
m5171135 | 2:3f2d4f53ceed | 45 | //Change Mode: |
m5171135 | 2:3f2d4f53ceed | 46 | bool changeMode(uint8_t *buf); |
m5171135 | 5:3f51eeb5aedc | 47 | |
m5171135 | 5:3f51eeb5aedc | 48 | //Check Command Type using xbee buffer; |
m5171135 | 0:2b8b56ac7a82 | 49 | uint8_t checkCommnadType(uint8_t* buf); |
m5171135 | 0:2b8b56ac7a82 | 50 | |
m5171135 | 5:3f51eeb5aedc | 51 | //Change Motor Speed |
m5171135 | 5:3f51eeb5aedc | 52 | void changeSpeed(uint8_t* buf); |
m5171135 | 5:3f51eeb5aedc | 53 | |
m5171135 | 0:2b8b56ac7a82 | 54 | MODE nowMode; |
m5171135 | 0:2b8b56ac7a82 | 55 | STATUS nowStatus; |
m5171135 | 4:04dadf67ecb6 | 56 | int packetLength; |
m5171135 | 4:04dadf67ecb6 | 57 | |
m5171135 | 5:3f51eeb5aedc | 58 | |
m5171135 | 4:04dadf67ecb6 | 59 | |
m5171135 | 0:2b8b56ac7a82 | 60 | private: |
m5171135 | 5:3f51eeb5aedc | 61 | // |
m5171135 | 5:3f51eeb5aedc | 62 | VNH5019 _agzSheild; |
m5171135 | 5:3f51eeb5aedc | 63 | |
m5171135 | 5:3f51eeb5aedc | 64 | void manualMode(); |
m5171135 | 5:3f51eeb5aedc | 65 | int manualCount; |
m5171135 | 5:3f51eeb5aedc | 66 | |
m5171135 | 5:3f51eeb5aedc | 67 | //Auto Type 1 -> Random |
m5171135 | 5:3f51eeb5aedc | 68 | void randomAuto(); |
m5171135 | 5:3f51eeb5aedc | 69 | int randomCount; |
m5171135 | 5:3f51eeb5aedc | 70 | |
m5171135 | 5:3f51eeb5aedc | 71 | |
m5171135 | 5:3f51eeb5aedc | 72 | |
m5171135 | 5:3f51eeb5aedc | 73 | //Auto Type 2 -> GPS |
m5171135 | 5:3f51eeb5aedc | 74 | void gpsAuto(); |
m5171135 | 5:3f51eeb5aedc | 75 | |
m5171135 | 5:3f51eeb5aedc | 76 | |
m5171135 | 5:3f51eeb5aedc | 77 | |
m5171135 | 5:3f51eeb5aedc | 78 | |
m5171135 | 0:2b8b56ac7a82 | 79 | }; |
m5171135 | 0:2b8b56ac7a82 | 80 | |
m5171135 | 0:2b8b56ac7a82 | 81 | #endif |