aigamozu / AigamozuControlPackets_展示会

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   VNH5019

Dependents:   Aigamozu_Robot_展示会 Aigamozu_Robot_March Aigamozu_Robot_templete

Fork of AigamozuControlPackets by aigamozu

Diff: AigamozuControlPackets.cpp

Revision:
47:36fdf8cd4336
Parent:
46:c35184266e00
Child:
48:4695e72853c6
diff -r c35184266e00 -r 36fdf8cd4336 AigamozuControlPackets.cpp
--- a/AigamozuControlPackets.cpp	Sat Mar 11 15:01:37 2017 +0000
+++ b/AigamozuControlPackets.cpp	Mon Mar 13 17:55:25 2017 +0000
@@ -40,10 +40,28 @@
 // ジャイロ・加速度データを送信する     //
 //////////////////////////////
 
- 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)
+ void AigamozuControlPackets::SendDataCommand(uint8_t fromID, uint8_t toID, int16_t gx,int16_t gy, int16_t gz, int16_t ax, int16_t ay,int16_t az, uint8_t flag)
  {         
+ 
+    UNION_int_char gx_data, gy_data, gz_data;
+    UNION_int_char ax_data,ay_data, az_data;
+    
+    gx_data.int_value=gx;
+    gy_data.int_value=gy;
+    gz_data.int_value=gz;
+    ax_data.int_value=ax;
+    ay_data.int_value=ay;
+    az_data.int_value=az;
 
-    uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID, gx, gy, gz, ax, ay, az,flag,'A','G','E'};
+    uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID, 
+    gx_data.char_value[0],gx_data.char_value[1],
+    gy_data.char_value[0],gy_data.char_value[1],
+    gz_data.char_value[0],gz_data.char_value[1],
+    ax_data.char_value[0],ax_data.char_value[1],
+    ay_data.char_value[0],ay_data.char_value[1],
+    az_data.char_value[0],az_data.char_value[1],
+    flag,'A','G','E'};
+    
     for(int i = 0; i < SEND_DATA_COMMNAD_LENGTH; i++) packetData[i] = tmp[i];
     packetLength = SEND_DATA_COMMNAD_LENGTH;