aigamozu / AigamozuControlPackets_展示会

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Dependencies:   VNH5019

Dependents:   Aigamozu_Robot_展示会 Aigamozu_Robot_March Aigamozu_Robot_templete

Fork of AigamozuControlPackets by aigamozu

AigamozuControlPackets.cpp

Committer:
s1200058
Date:
2016-10-24
Revision:
42:04ca5242eaf2
Parent:
41:fbf8f617a6ab
Child:
43:e011cf13dbb2
Child:
44:da580a931f28

File content as of revision 42:04ca5242eaf2:

#include "AigamozuControlPackets.h"
#include "VNH5019.h"

#define RIGHT_SPEED 0
#define LEFT_SPEED 32
#define FORWARD_SPEED 32

//////////////////////////////
//          Init            //
//////////////////////////////
AigamozuControlPackets::AigamozuControlPackets(VNH5019 agzSheild):_agzSheild(agzSheild){
    }

//////////////////////////////
//    Using createPacket    //
//////////////////////////////
uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
    return buf[14];
    }

uint8_t* AigamozuControlPackets::getPacketData(){
    return packetData;
    }

int AigamozuControlPackets::getPacketLength(){
        return packetLength;
    }

void AigamozuControlPackets::changeSpeed(uint8_t* buf){
    if(nowMode == MANUAL_MODE){
            manualCount =0;
            _agzSheild.changeSpeed(buf[20],buf[21],buf[23],buf[24]);
        }
    }

//////////////////////////////
//   each mode interrupt    //
//////////////////////////////

void AigamozuControlPackets::manualMode(){
    manualCount++;
    if(manualCount > 10){
        _agzSheild.changeSpeed(0,0,0,0);
        manualCount = 0;
        }
    }

bool AigamozuControlPackets::gpsAuto(/*const int autobase[]*/){
    
   /*
    _agzSheild.changeSpeed(2,128,2,128):for moving robot
    */
    
   if(nowMode == AUTO_GPS_MODE){

        if(Move_Timer.read_ms() < 4000){
            _agzSheild.changeSpeed(1,LEFT_SPEED,1,RIGHT_SPEED);//turn
        }else if(Move_Timer.read_ms() >= 4000 && Move_Timer.read_ms() < 5000){
            _agzSheild.changeSpeed(0,0,0,0);//stop
        }else if(Move_Timer.read_ms() >= 5000 && Move_Timer.read_ms() < 6000){
            _agzSheild.changeSpeed(1,FORWARD_SPEED,1,FORWARD_SPEED);//forward
        }else if(Move_Timer.read_ms() >= 6000 && Move_Timer.read_ms() < 7000){
            _agzSheild.changeSpeed(0,0,0,0);//stop
        }else if(Move_Timer.read_ms() >= 7000 && Move_Timer.read_ms() < 12000){
            _agzSheild.changeSpeed(1,RIGHT_SPEED,1,LEFT_SPEED);//turn
        }else if(Move_Timer.read_ms() >=12000 && Move_Timer.read_ms() < 13000){
            _agzSheild.changeSpeed(0,0,0,0);//stop
        }else if(Move_Timer.read_ms() >= 13000 && Move_Timer.read_ms() < 14000){
            _agzSheild.changeSpeed(1,FORWARD_SPEED,1,FORWARD_SPEED);//forward
        }else if(Move_Timer.read_ms() >= 14000 && Move_Timer.read_ms() < 15000){
            _agzSheild.changeSpeed(0,0,0,0);//stop
             Move_Timer.reset();
        }
    }   

 return 1;
}
 




//////////////////////////////
//     Mode change          //
//////////////////////////////
bool AigamozuControlPackets::changeMode(uint8_t *buf){
    
    //reset
    _agzSheild.changeSpeed(0,0,0,0);
    eachModeInt.detach();

    //Select Mode
    switch(buf[19]){
        case 0:
            nowMode = STANDBY_MODE;
        break;
        
        case 1:
            eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0);
            nowMode = MANUAL_MODE;
        break;
        
        case 2:
            nowMode = AUTO_GPS_MODE;
            Move_Timer.reset();
        break;
        
        case 3:
            nowMode = AUTO_GPS_MODE;
            Move_Timer.reset();
        break;
        
        default:
            nowMode = STANDBY_MODE;
        break;
        
        }
    return false;
}