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

Diff: AigamozuControlPackets.cpp

Revision:
45:2f47c25a3562
Parent:
43:e011cf13dbb2
Child:
46:c35184266e00
diff -r e011cf13dbb2 -r 2f47c25a3562 AigamozuControlPackets.cpp
--- a/AigamozuControlPackets.cpp	Sun Oct 30 04:45:11 2016 +0000
+++ b/AigamozuControlPackets.cpp	Sat Mar 11 14:57:17 2017 +0000
@@ -1,14 +1,15 @@
 #include "AigamozuControlPackets.h"
 #include "VNH5019.h"
 
-#define RIGHT_SPEED 32
-#define LEFT_SPEED 16
-#define FORWARD_SPEED 32
+#define RIGHT_SPEED 96
+#define LEFT_SPEED 96
+#define FORWARD_SPEED 96
 
 //////////////////////////////
 //          Init            //
 //////////////////////////////
 AigamozuControlPackets::AigamozuControlPackets(VNH5019 agzSheild):_agzSheild(agzSheild){
+    packetData = new uint8_t[50];
     }
 
 //////////////////////////////
@@ -33,6 +34,22 @@
         }
     }
 
+
+//////////////////////////////
+// Robot -> Manager         //
+//////////////////////////////
+
+ void AigamozuControlPackets::SendDataCommand(uint8_t fromID, uint8_t toID, uint8_t gx,uint8_t gy, uint8_t gz, uint8_t ax, uint8_t ay,uint8_t az, uint8_t flag)
+ {         
+
+    uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID, gx, gy, gz, ax, ay, az,flag,'A','G','E'};
+    for(int i = 0; i < SEND_DATA_COMMNAD_LENGTH; i++) packetData[i] = tmp[i];
+    packetLength = SEND_DATA_COMMNAD_LENGTH;
+    
+    }
+     
+
+
 //////////////////////////////
 //   each mode interrupt    //
 //////////////////////////////
@@ -52,12 +69,12 @@
     */
     
    if(nowMode == AUTO_GPS_MODE){
-       if(Move_Timer.read_ms() < 5000){
+       //if(Move_Timer.read_ms() < 5000){
             _agzSheild.changeSpeed(1,LEFT_SPEED,1,RIGHT_SPEED);//turn
-        }else if(Move_Timer.read_ms() >= 5000 && Move_Timer.read_ms() < 6000){
-            _agzSheild.changeSpeed(0,0,0,0);//stop
-            Move_Timer.reset();
-        }
+      //  }else if(Move_Timer.read_ms() >= 5000 && Move_Timer.read_ms() < 6000){
+      //      _agzSheild.changeSpeed(0,0,0,0);//stop
+        //    Move_Timer.reset();
+        //}
 /*
         if(Move_Timer.read_ms() < 4000){
             _agzSheild.changeSpeed(1,LEFT_SPEED,1,RIGHT_SPEED);//turn