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:
52:d4d739f01b38
Parent:
51:67f01969f709
diff -r 67f01969f709 -r d4d739f01b38 AigamozuControlPackets.cpp
--- a/AigamozuControlPackets.cpp	Fri Mar 31 06:26:28 2017 +0000
+++ b/AigamozuControlPackets.cpp	Thu Apr 20 10:24:16 2017 +0000
@@ -3,12 +3,13 @@
 
 #define LOW_SPEED 16
 #define HIGH_SPEED 64
-#define FORWARD_SPEED 64
+#define FORWARD_SPEED 32
 
 //////////////////////////////
 //          Init            //
 //////////////////////////////
 AigamozuControlPackets::AigamozuControlPackets(VNH5019 agzSheild):_agzSheild(agzSheild){
+    packetData = new uint8_t[50];
     }
 
 //////////////////////////////
@@ -33,8 +34,17 @@
             manualCount =0;
             _agzSheild.changeSpeed(buf[20],buf[21],buf[23],buf[24]);
         }
-    }
+}
+
+
 
+ void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,int mode){
+    uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,(uint8_t)mode,'A','G','E'};
+    for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i];
+    packetLength = CHANGE_MODE_COMMAND_LENGTH;
+}
+    
+    
 ///////////////////////////////////////
 //   each mode interrupt             //
 ///////////////////////////////////////
@@ -63,11 +73,11 @@
         
     if(nowMode == AUTO_GPS_MODE){
 
-        if(moveTimer.read_ms() <= 400){
-            _agzSheild.changeSpeed(1,HIGH_SPEED,0,LOW_SPEED);//時計回り
-        }else if(moveTimer.read_ms() > 400 && moveTimer.read_ms() <= 500){
-            _agzSheild.changeSpeed(0,LOW_SPEED,0,LOW_SPEED); //反時計回り
-        }
+        //if(moveTimer.read_ms() <= 400){
+            _agzSheild.changeSpeed(1,FORWARD_SPEED,1,FORWARD_SPEED);
+        //}else if(moveTimer.read_ms() > 400 && moveTimer.read_ms() <= 500){
+         //   _agzSheild.changeSpeed(0,LOW_SPEED,0,LOW_SPEED); //stop
+        //}
     }   
 
     return 1;