展示会用です
Dependencies: VNH5019
Dependents: Aigamozu_Robot_展示会 Aigamozu_Robot_March Aigamozu_Robot_templete
Fork of AigamozuControlPackets by
Diff: AigamozuControlPackets.h
- Revision:
- 0:2b8b56ac7a82
- Child:
- 1:80448565c15c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AigamozuControlPackets.h Fri May 30 15:33:50 2014 +0000 @@ -0,0 +1,44 @@ +#include "mbed.h" +#include "VNH5019.h" + +#ifndef AIGAMOZU_CONTROL_PACKETS +#define AIGAMOZU_CONTROL_PACKETS + +#define RECEIVES_GPS_STATUS_LENGTH 32 +#define RECEIVES_ACK_LENGTH 13 + + +enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R'}; +enum MODE {STANDBY_MODE, MANUAL_MODE,AUTO_MODE}; +enum STATUS {NORMAL,BUSY}; + +union TEST_T{ + long a; + uint8_t b[4]; + }; + +class AigamozuControlPackets{ + + public: + Ticker randomAxis; + + //Change + + //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); + + //check Command: + uint8_t check(); + + // + bool checkCommandAvilable(COMMAND_TYPE requestCommand); + uint8_t checkCommnadType(uint8_t* buf); + + MODE nowMode; + STATUS nowStatus; + + private: + }; + +#endif \ No newline at end of file