aigamozu / AigamozuControlPackets_2016

2016_05_19ver Auto mode 10sec forward, 2sec stop, 2sec right turn Please change test_mode's right turn ppm

Dependencies:   VNH5019 AigamozuControlPackets_2016

Dependents:   Aigamozu_Robot_2016_ver1 GPSLOG_program AigamozuControlPackets_2016

Fork of AigamozuControlPackets by aigamozu

AigamozuControlPackets.cpp@38:4e8cfe5e4bfb, 2016-05-25 (annotated)

Committer:
s1200058
Date:
Wed May 25 10:41:52 2016 +0000
Revision:
38:4e8cfe5e4bfb
Parent:
37:5654e31ad452
Child:
39:ae3f6bb56da0
05/25

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m5171135 0:2b8b56ac7a82 1 #include "AigamozuControlPackets.h"
m5171135 0:2b8b56ac7a82 2 #include "VNH5019.h"
m5171135 0:2b8b56ac7a82 3
m5171135 6:f164a716be46 4 //////////////////////////////
m5171135 6:f164a716be46 5 // Init //
m5171135 6:f164a716be46 6 //////////////////////////////
m5171135 5:3f51eeb5aedc 7 AigamozuControlPackets::AigamozuControlPackets(VNH5019 agzSheild):_agzSheild(agzSheild){
m5171135 2:3f2d4f53ceed 8 packetData = new uint8_t[50];
m5171135 2:3f2d4f53ceed 9 packetLength = 0;
m5171135 7:200ce5c1f486 10 //--init base point--//
kityann 11:4d71c9cc3b4a 11 //basePoint[0].x = 13956.2655;
kityann 11:4d71c9cc3b4a 12 //basePoint[0].y = 3731.5060;
kityann 11:4d71c9cc3b4a 13 basePoint[0].x = 100.2655;
kityann 11:4d71c9cc3b4a 14 basePoint[0].y = 30.5060;
m5171135 7:200ce5c1f486 15
kityann 11:4d71c9cc3b4a 16 //basePoint[1].x = 13956.2898;
kityann 11:4d71c9cc3b4a 17 //basePoint[1].y = 3731.5055;
kityann 11:4d71c9cc3b4a 18 basePoint[1].x = 200.2898;
kityann 11:4d71c9cc3b4a 19 basePoint[1].y = 30.5055;
m5171135 7:200ce5c1f486 20
kityann 11:4d71c9cc3b4a 21 //basePoint[2].x = 13956.2915;
kityann 11:4d71c9cc3b4a 22 //basePoint[2].y = 3731.5245;
kityann 11:4d71c9cc3b4a 23 basePoint[2].x = 200.2915;
kityann 11:4d71c9cc3b4a 24 basePoint[2].y = 40.5245;
m5171135 7:200ce5c1f486 25
kityann 11:4d71c9cc3b4a 26 //basePoint[3].x = 13956.2680;
kityann 11:4d71c9cc3b4a 27 //basePoint[3].y = 3731.5248;
kityann 11:4d71c9cc3b4a 28 basePoint[3].x = 100.2680;
kityann 11:4d71c9cc3b4a 29 basePoint[3].y = 40.5248;
kityann 17:a6fa8cc96d94 30
kityann 17:a6fa8cc96d94 31 agzPoint.x=0;agzPoint.y=0;
kityann 17:a6fa8cc96d94 32 agzPointKalman.x=0;agzPointKalman.y=0;
kityann 17:a6fa8cc96d94 33 agzCov.x=0;agzCov.y=0;
m5171135 2:3f2d4f53ceed 34 }
m5171135 2:3f2d4f53ceed 35
kityann 17:a6fa8cc96d94 36 //////////////////////////////
kityann 17:a6fa8cc96d94 37 // get関数
kityann 17:a6fa8cc96d94 38 //////////////////////////////
kityann 17:a6fa8cc96d94 39 double AigamozuControlPackets::get_agzPoint_lati(){
kityann 17:a6fa8cc96d94 40 return agzPoint.x;
kityann 17:a6fa8cc96d94 41 }
kityann 17:a6fa8cc96d94 42 double AigamozuControlPackets::get_agzPoint_longi(){
kityann 17:a6fa8cc96d94 43 return agzPoint.y;
kityann 17:a6fa8cc96d94 44 }
kityann 17:a6fa8cc96d94 45 double AigamozuControlPackets::get_agzPointKalman_lati(){
kityann 17:a6fa8cc96d94 46 return agzPointKalman.x;
kityann 17:a6fa8cc96d94 47 }
kityann 17:a6fa8cc96d94 48 double AigamozuControlPackets::get_agzPointKalman_longi(){
kityann 17:a6fa8cc96d94 49 return agzPointKalman.y;
kityann 17:a6fa8cc96d94 50 }
kityann 17:a6fa8cc96d94 51 double AigamozuControlPackets::get_agzCov_lati(){
kityann 17:a6fa8cc96d94 52 return agzCov.x;
kityann 17:a6fa8cc96d94 53 }
kityann 17:a6fa8cc96d94 54 double AigamozuControlPackets::get_agzCov_longi(){
kityann 17:a6fa8cc96d94 55 return agzCov.y;
kityann 17:a6fa8cc96d94 56 }
s1200058 20:fec2d6dec897 57
s1200058 20:fec2d6dec897 58 double AigamozuControlPackets::get_basePoint_lati(int i){
s1200058 20:fec2d6dec897 59 return basePoint[i].x;
s1200058 20:fec2d6dec897 60 }
s1200058 20:fec2d6dec897 61 double AigamozuControlPackets::get_basePoint_longi(int i){
s1200058 20:fec2d6dec897 62 return basePoint[i].y;
s1200058 20:fec2d6dec897 63 }
kityann 19:13b24b50800e 64 double AigamozuControlPackets::get_basePointKalman_lati(int i){
kityann 19:13b24b50800e 65 return basePointKalman[i].x;
kityann 19:13b24b50800e 66 }
kityann 19:13b24b50800e 67 double AigamozuControlPackets::get_basePointKalman_longi(int i){
kityann 19:13b24b50800e 68 return basePointKalman[i].y;
kityann 19:13b24b50800e 69 }
kityann 19:13b24b50800e 70
m5171135 2:3f2d4f53ceed 71 //////////////////////////////
kityann 17:a6fa8cc96d94 72 // set関数
kityann 17:a6fa8cc96d94 73 //////////////////////////////
kityann 17:a6fa8cc96d94 74 void AigamozuControlPackets::set_agzCov(double cov_lati,double cov_longi){
s1200058 35:b33b8b2a92b0 75 agzCov.x = cov_lati;
s1200058 35:b33b8b2a92b0 76 agzCov.y = cov_longi;
kityann 17:a6fa8cc96d94 77 }
s1200058 20:fec2d6dec897 78
s1200058 34:08491a77e458 79 void AigamozuControlPackets::set_agzPointKalman_lati(double kalman_lati){
s1200058 34:08491a77e458 80
s1200058 34:08491a77e458 81 agzPointKalman.x = kalman_lati;
s1200058 34:08491a77e458 82
s1200058 34:08491a77e458 83 }
s1200058 34:08491a77e458 84
s1200058 34:08491a77e458 85 void AigamozuControlPackets::set_agzPointKalman_longi(double kalman_longi){
s1200058 34:08491a77e458 86
s1200058 34:08491a77e458 87 agzPointKalman.y = kalman_longi;
s1200058 34:08491a77e458 88
s1200058 20:fec2d6dec897 89 }
s1200058 20:fec2d6dec897 90
kityann 17:a6fa8cc96d94 91 //////////////////////////////
m5171135 2:3f2d4f53ceed 92 // Controller/Base -> Robot //
m5171135 2:3f2d4f53ceed 93 //////////////////////////////
m5171135 4:04dadf67ecb6 94
m5171135 2:3f2d4f53ceed 95 void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR)
m5171135 2:3f2d4f53ceed 96 {
m5171135 2:3f2d4f53ceed 97 uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'};
m5171135 2:3f2d4f53ceed 98 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 99 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 100 }
m5171135 2:3f2d4f53ceed 101
s1200058 9:4f675487f06b 102 void AigamozuControlPackets::createRequestCommand(uint8_t fromID,uint8_t toID)
m5171135 0:2b8b56ac7a82 103 {
m5171135 2:3f2d4f53ceed 104 uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'A','G','E'};
m5171135 2:3f2d4f53ceed 105 for(int i = 0; i < REQUEST_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 106 packetLength = REQUEST_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 107 }
m5171135 0:2b8b56ac7a82 108
m5171135 2:3f2d4f53ceed 109 void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode){
m5171135 2:3f2d4f53ceed 110 uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,mode,'A','G','E'};
m5171135 2:3f2d4f53ceed 111 for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 112 packetLength = CHANGE_MODE_COMMAND_LENGTH;
m5171135 2:3f2d4f53ceed 113 }
m5171135 2:3f2d4f53ceed 114
m5171135 2:3f2d4f53ceed 115
m5171135 2:3f2d4f53ceed 116 //////////////////////////////
m5171135 2:3f2d4f53ceed 117 // Robot -> Controller/Base //
m5171135 2:3f2d4f53ceed 118 //////////////////////////////
m5171135 2:3f2d4f53ceed 119
s1200058 24:ed71894a6952 120 void AigamozuControlPackets::createReceiveStatusCommand(uint8_t fromID,uint8_t toID,int state, double latitude,double longitude,double latitudeKalman,double longitudeKalman,double covarLati,double covarLongi)
m5171135 2:3f2d4f53ceed 121 {
kityann 17:a6fa8cc96d94 122 UNION_double_char latitude_data,longitude_data, latitudeKalman_data, longitudeKalman_data;
kityann 17:a6fa8cc96d94 123 UNION_double_char covarLati_data,covarLongi_data;
m5171135 0:2b8b56ac7a82 124
kityann 17:a6fa8cc96d94 125 latitude_data.double_value=latitude;
kityann 17:a6fa8cc96d94 126 longitude_data.double_value=longitude;
kityann 18:01882120e6cf 127 latitudeKalman_data.double_value=latitudeKalman;
kityann 17:a6fa8cc96d94 128 longitudeKalman_data.double_value=longitudeKalman;
kityann 17:a6fa8cc96d94 129 covarLati_data.double_value=covarLati;
kityann 17:a6fa8cc96d94 130 covarLongi_data.double_value=covarLongi;
kityann 18:01882120e6cf 131
s1200058 24:ed71894a6952 132
s1200058 24:ed71894a6952 133 uint8_t tmp[] = {'A','G','S','R','F',fromID,'T',toID,'S', state,71,80,83,
kityann 17:a6fa8cc96d94 134 latitude_data.char_value[0],latitude_data.char_value[1],latitude_data.char_value[2],latitude_data.char_value[3],latitude_data.char_value[4],latitude_data.char_value[5],latitude_data.char_value[6],latitude_data.char_value[7],
kityann 17:a6fa8cc96d94 135 longitude_data.char_value[0],longitude_data.char_value[1],longitude_data.char_value[2],longitude_data.char_value[3],longitude_data.char_value[4],longitude_data.char_value[5],longitude_data.char_value[6],longitude_data.char_value[7],
kityann 17:a6fa8cc96d94 136 latitudeKalman_data.char_value[0],latitudeKalman_data.char_value[1],latitudeKalman_data.char_value[2],latitudeKalman_data.char_value[3],latitudeKalman_data.char_value[4],latitudeKalman_data.char_value[5],latitudeKalman_data.char_value[6],latitudeKalman_data.char_value[7],
kityann 17:a6fa8cc96d94 137 longitudeKalman_data.char_value[0],longitudeKalman_data.char_value[1],longitudeKalman_data.char_value[2],longitudeKalman_data.char_value[3],longitudeKalman_data.char_value[4],longitudeKalman_data.char_value[5],longitudeKalman_data.char_value[6],longitudeKalman_data.char_value[7],
kityann 17:a6fa8cc96d94 138 covarLati_data.char_value[0],covarLati_data.char_value[1],covarLati_data.char_value[2],covarLati_data.char_value[3],covarLati_data.char_value[4],covarLati_data.char_value[5],covarLati_data.char_value[6],covarLati_data.char_value[7],
kityann 17:a6fa8cc96d94 139 covarLongi_data.char_value[0],covarLongi_data.char_value[1],covarLongi_data.char_value[2],covarLongi_data.char_value[3],covarLongi_data.char_value[4],covarLongi_data.char_value[5],covarLongi_data.char_value[6],covarLongi_data.char_value[7],
kityann 17:a6fa8cc96d94 140 65,71,69};
m5171135 2:3f2d4f53ceed 141 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 142 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 0:2b8b56ac7a82 143 }
m5171135 0:2b8b56ac7a82 144
kityann 13:a5bc425540a7 145
m5171135 2:3f2d4f53ceed 146
m5171135 2:3f2d4f53ceed 147 //////////////////////////////
m5171135 2:3f2d4f53ceed 148 // Using createPacket //
m5171135 2:3f2d4f53ceed 149 //////////////////////////////
m5171135 4:04dadf67ecb6 150 uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
m5171135 4:04dadf67ecb6 151 return buf[14];
m5171135 4:04dadf67ecb6 152 }
m5171135 2:3f2d4f53ceed 153
m5171135 2:3f2d4f53ceed 154 uint8_t* AigamozuControlPackets::getPacketData(){
m5171135 2:3f2d4f53ceed 155 return packetData;
m5171135 2:3f2d4f53ceed 156 }
m5171135 2:3f2d4f53ceed 157
m5171135 2:3f2d4f53ceed 158 int AigamozuControlPackets::getPacketLength(){
m5171135 2:3f2d4f53ceed 159 return packetLength;
m5171135 0:2b8b56ac7a82 160 }
m5171135 0:2b8b56ac7a82 161
m5171135 5:3f51eeb5aedc 162 void AigamozuControlPackets::changeSpeed(uint8_t* buf){
m5171135 5:3f51eeb5aedc 163 if(nowMode == MANUAL_MODE){
m5171135 5:3f51eeb5aedc 164 manualCount =0;
m5171135 5:3f51eeb5aedc 165 _agzSheild.changeSpeed(buf[20],buf[21],buf[23],buf[24]);
m5171135 5:3f51eeb5aedc 166 }
m5171135 5:3f51eeb5aedc 167 }
m5171135 4:04dadf67ecb6 168
m5171135 6:f164a716be46 169 //////////////////////////////
m5171135 6:f164a716be46 170 // each mode interrupt //
m5171135 6:f164a716be46 171 //////////////////////////////
m5171135 6:f164a716be46 172
m5171135 6:f164a716be46 173 void AigamozuControlPackets::manualMode(){
m5171135 6:f164a716be46 174 manualCount++;
m5171135 6:f164a716be46 175 if(manualCount > 10){
m5171135 6:f164a716be46 176 _agzSheild.changeSpeed(0,0,0,0);
m5171135 6:f164a716be46 177 manualCount = 0;
m5171135 6:f164a716be46 178 }
m5171135 6:f164a716be46 179 }
m5171135 6:f164a716be46 180
m5171135 6:f164a716be46 181
m5171135 5:3f51eeb5aedc 182 void AigamozuControlPackets::randomAuto(){
m5171135 2:3f2d4f53ceed 183
m5171135 5:3f51eeb5aedc 184 randomCount++;
m5171135 5:3f51eeb5aedc 185
m5171135 5:3f51eeb5aedc 186 if(randomCount < 10) _agzSheild.changeSpeed(1,128,1,128);
m5171135 5:3f51eeb5aedc 187 else if(randomCount < 11) _agzSheild.changeSpeed(2,128,2,128);
m5171135 5:3f51eeb5aedc 188 else randomCount = 0;
m5171135 5:3f51eeb5aedc 189
m5171135 5:3f51eeb5aedc 190 }
s1200058 32:cd68a37d1ee1 191
s1200058 32:cd68a37d1ee1 192 void AigamozuControlPackets::test_Auto(int flag){
s1200058 32:cd68a37d1ee1 193
s1200058 32:cd68a37d1ee1 194 if(flag == 0){
s1200058 32:cd68a37d1ee1 195 _agzSheild.changeSpeed(1, 64, 1, 64); //straight
s1200058 32:cd68a37d1ee1 196 }
s1200058 32:cd68a37d1ee1 197 if(flag == 1){
s1200058 32:cd68a37d1ee1 198 _agzSheild.changeSpeed(0, 64, 0, 64);
s1200058 32:cd68a37d1ee1 199 }
s1200058 32:cd68a37d1ee1 200 if(flag == 2){
s1200058 37:5654e31ad452 201 _agzSheild.changeSpeed(1, 64, 1, 16); //Turn Right
s1200058 32:cd68a37d1ee1 202 }
s1200058 32:cd68a37d1ee1 203 if(flag == 3){
s1200058 32:cd68a37d1ee1 204 _agzSheild.changeSpeed(0, 64, 0, 64);
s1200058 32:cd68a37d1ee1 205 }
s1200058 32:cd68a37d1ee1 206 }
s1200058 32:cd68a37d1ee1 207
s1200058 20:fec2d6dec897 208 bool AigamozuControlPackets::gpsAuto(){
m5171135 5:3f51eeb5aedc 209
kityann 10:e77c664ee5e2 210 /*
kityann 10:e77c664ee5e2 211 _agzSheild.changeSpeed(2,128,2,128):for moving robot
kityann 10:e77c664ee5e2 212 */
kityann 10:e77c664ee5e2 213
s1200058 37:5654e31ad452 214 //Timer Automove_Timer;
s1200058 37:5654e31ad452 215 // bool out_flag = true;
s1200058 37:5654e31ad452 216 // static bool out_count_flag = false;
s1200058 37:5654e31ad452 217 const int straight = 8000, turning = 14000, wait = 9000;
kityann 10:e77c664ee5e2 218
s1200058 37:5654e31ad452 219
s1200058 20:fec2d6dec897 220 if(AigamozuControlPackets::checkGpsHit(basePointKalman[0],basePointKalman[1],basePointKalman[2],agzPointKalman)){
s1200058 37:5654e31ad452 221 out_flag = false;
s1200058 37:5654e31ad452 222 out_count_flag = false;
s1200058 20:fec2d6dec897 223 }else if(AigamozuControlPackets::checkGpsHit(basePointKalman[2],basePointKalman[3],basePointKalman[0],agzPointKalman)){
s1200058 37:5654e31ad452 224 out_flag = false;
s1200058 37:5654e31ad452 225 out_count_flag = false;
kityann 10:e77c664ee5e2 226 }else{//if robot is out
s1200058 37:5654e31ad452 227 out_flag = true;
m5171135 7:200ce5c1f486 228 }
s1200058 37:5654e31ad452 229
s1200058 37:5654e31ad452 230
kityann 10:e77c664ee5e2 231 //if robot is out:
s1200058 37:5654e31ad452 232 if(out_flag == true && out_count_flag == false){
kityann 10:e77c664ee5e2 233 Automove_Timer.reset();
kityann 10:e77c664ee5e2 234 out_count_flag = true;
kityann 10:e77c664ee5e2 235 }
s1200058 37:5654e31ad452 236 if(nowMode == AUTO_GPS_MODE){
s1200058 32:cd68a37d1ee1 237
s1200058 37:5654e31ad452 238 if(out_flag == true){
s1200058 37:5654e31ad452 239 if(Automove_Timer.read_ms() <= 5000){
s1200058 37:5654e31ad452 240 _agzSheild.changeSpeed(1,16,1,64);//turn left
s1200058 37:5654e31ad452 241 }else if(Automove_Timer.read_ms() <= 6000){
s1200058 37:5654e31ad452 242 _agzSheild.changeSpeed(0,64,0,64);
s1200058 37:5654e31ad452 243 }else if(Automove_Timer.read_ms() <= 10000){
s1200058 37:5654e31ad452 244 _agzSheild.changeSpeed(1,64,1,64);//straight
s1200058 37:5654e31ad452 245 }else if(Automove_Timer.read_ms() > 10000){
s1200058 37:5654e31ad452 246 Move_Timer.reset();
s1200058 37:5654e31ad452 247 _agzSheild.changeSpeed(0,64,0,64);
s1200058 37:5654e31ad452 248 out_count_flag=false;
s1200058 37:5654e31ad452 249 out_flag=false;
s1200058 37:5654e31ad452 250 }
s1200058 37:5654e31ad452 251 }else{
s1200058 37:5654e31ad452 252 //if robot is inner
s1200058 37:5654e31ad452 253 // _agzSheild.changeSpeed(1,64,1,64);//straight
s1200058 37:5654e31ad452 254 if(Move_Timer.read_ms() < straight){
s1200058 37:5654e31ad452 255 _agzSheild.changeSpeed(1, 64, 1, 64); //straight
s1200058 37:5654e31ad452 256 }
s1200058 37:5654e31ad452 257 else if(Move_Timer.read_ms() < wait){
s1200058 37:5654e31ad452 258 _agzSheild.changeSpeed(0, 64, 0, 64);
s1200058 37:5654e31ad452 259 }
s1200058 37:5654e31ad452 260 else if(Move_Timer.read_ms() < turning){
s1200058 37:5654e31ad452 261 _agzSheild.changeSpeed(1, 64, 1, 16); //Turn Right
s1200058 37:5654e31ad452 262 }
s1200058 37:5654e31ad452 263 else if(Move_Timer.read_ms() > turning){
s1200058 37:5654e31ad452 264 _agzSheild.changeSpeed(0, 64, 0, 64);
s1200058 37:5654e31ad452 265 wait_ms(500);
s1200058 37:5654e31ad452 266 Move_Timer.reset();
s1200058 37:5654e31ad452 267 }
s1200058 37:5654e31ad452 268 }
s1200058 37:5654e31ad452 269 }
s1200058 38:4e8cfe5e4bfb 270
s1200058 37:5654e31ad452 271
s1200058 20:fec2d6dec897 272 return out_flag;
kityann 10:e77c664ee5e2 273
kityann 10:e77c664ee5e2 274 }
s1200058 37:5654e31ad452 275
s1200058 37:5654e31ad452 276
m5171135 7:200ce5c1f486 277 //Update Robot Point
kityann 11:4d71c9cc3b4a 278 void AigamozuControlPackets::reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
kityann 18:01882120e6cf 279 agzPoint.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
kityann 18:01882120e6cf 280 agzPoint.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
m5171135 7:200ce5c1f486 281
m5171135 7:200ce5c1f486 282 }
kityann 11:4d71c9cc3b4a 283
kityann 11:4d71c9cc3b4a 284 //Updata Base Point
kityann 19:13b24b50800e 285 void AigamozuControlPackets::reNewBasePoint(int id, uint8_t *latitude,uint8_t *longitude){
kityann 19:13b24b50800e 286 UNION_double_char lat,longi;
kityann 19:13b24b50800e 287 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 288 lat.char_value[i]=latitude[i];
kityann 19:13b24b50800e 289 }
kityann 19:13b24b50800e 290 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 291 longi.char_value[i]=longitude[i];
kityann 19:13b24b50800e 292 }
kityann 19:13b24b50800e 293 basePoint[id].x = lat.double_value;
kityann 19:13b24b50800e 294 basePoint[id].y = longi.double_value;
kityann 11:4d71c9cc3b4a 295 }
m5171135 7:200ce5c1f486 296
kityann 13:a5bc425540a7 297 //Update Robot Point
kityann 13:a5bc425540a7 298 void AigamozuControlPackets::reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
kityann 18:01882120e6cf 299 agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
kityann 18:01882120e6cf 300 agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
kityann 13:a5bc425540a7 301
kityann 13:a5bc425540a7 302 }
kityann 13:a5bc425540a7 303
kityann 13:a5bc425540a7 304 //Updata Base Point
kityann 19:13b24b50800e 305 void AigamozuControlPackets::reNewBasePointKalman(int id, uint8_t *latitude,uint8_t *longitude){
kityann 19:13b24b50800e 306 UNION_double_char lat,longi;
kityann 19:13b24b50800e 307 for(int i = 0;i < 8;i++){
s1200058 37:5654e31ad452 308 lat.char_value[i]=latitude[i];
kityann 19:13b24b50800e 309 }
kityann 19:13b24b50800e 310 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 311 longi.char_value[i]=longitude[i];
kityann 19:13b24b50800e 312 }
kityann 19:13b24b50800e 313
kityann 19:13b24b50800e 314 basePointKalman[id].x = lat.double_value;
kityann 19:13b24b50800e 315 basePointKalman[id].y = longi.double_value;
s1200058 31:8753fbab3f1f 316 }
kityann 13:a5bc425540a7 317
m5171135 7:200ce5c1f486 318
m5171135 7:200ce5c1f486 319 //Check Hit Point Area
m5171135 7:200ce5c1f486 320 bool AigamozuControlPackets::checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P){
m5171135 7:200ce5c1f486 321 vector2D AB = AigamozuControlPackets::sub_vector(B, A);
m5171135 7:200ce5c1f486 322 vector2D BP = AigamozuControlPackets::sub_vector(P, B);
s1200058 37:5654e31ad452 323
m5171135 7:200ce5c1f486 324 vector2D BC = AigamozuControlPackets::sub_vector(C, B);
m5171135 7:200ce5c1f486 325 vector2D CP = AigamozuControlPackets::sub_vector(P, C);
s1200058 37:5654e31ad452 326
m5171135 7:200ce5c1f486 327 vector2D CA = AigamozuControlPackets::sub_vector(A, C);
m5171135 7:200ce5c1f486 328 vector2D AP = AigamozuControlPackets::sub_vector(P, A);
m5171135 7:200ce5c1f486 329
m5171135 7:200ce5c1f486 330 double c1 = AB.x * BP.y - AB.y * BP.x;
m5171135 7:200ce5c1f486 331 double c2 = BC.x * CP.y - BC.y * CP.x;
m5171135 7:200ce5c1f486 332 double c3 = CA.x * AP.y - CA.y * AP.x;
s1200058 37:5654e31ad452 333
m5171135 7:200ce5c1f486 334 if( ( c1 > 0 && c2 > 0 && c3 > 0 ) || ( c1 < 0 && c2 < 0 && c3 < 0 ) ) {
m5171135 7:200ce5c1f486 335 return true;
m5171135 5:3f51eeb5aedc 336 }
m5171135 6:f164a716be46 337
m5171135 7:200ce5c1f486 338 return false;
m5171135 7:200ce5c1f486 339
s1200058 37:5654e31ad452 340 }
m5171135 7:200ce5c1f486 341
m5171135 7:200ce5c1f486 342 vector2D AigamozuControlPackets::sub_vector( const vector2D& a, const vector2D& b )
m5171135 7:200ce5c1f486 343 {
m5171135 7:200ce5c1f486 344 vector2D ret;
m5171135 7:200ce5c1f486 345 ret.x = a.x - b.x;
m5171135 7:200ce5c1f486 346 ret.y = a.y - b.y;
m5171135 7:200ce5c1f486 347 return ret;
m5171135 7:200ce5c1f486 348 }
m5171135 7:200ce5c1f486 349
m5171135 7:200ce5c1f486 350
m5171135 7:200ce5c1f486 351
m5171135 5:3f51eeb5aedc 352
m5171135 6:f164a716be46 353 //////////////////////////////
m5171135 6:f164a716be46 354 // Mode change //
m5171135 6:f164a716be46 355 //////////////////////////////
m5171135 2:3f2d4f53ceed 356 bool AigamozuControlPackets::changeMode(uint8_t *buf){
m5171135 2:3f2d4f53ceed 357
m5171135 6:f164a716be46 358 //reset
m5171135 5:3f51eeb5aedc 359 _agzSheild.changeSpeed(0,0,0,0);
m5171135 6:f164a716be46 360 eachModeInt.detach();
m5171135 5:3f51eeb5aedc 361
m5171135 6:f164a716be46 362 //Select Mode
s1200058 29:3a2d87c10e43 363 switch(buf[19]){
m5171135 2:3f2d4f53ceed 364 case 0:
m5171135 2:3f2d4f53ceed 365 nowMode = STANDBY_MODE;
m5171135 2:3f2d4f53ceed 366 break;
m5171135 2:3f2d4f53ceed 367
m5171135 2:3f2d4f53ceed 368 case 1:
m5171135 6:f164a716be46 369 eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0);
m5171135 2:3f2d4f53ceed 370 nowMode = MANUAL_MODE;
m5171135 2:3f2d4f53ceed 371 break;
m5171135 2:3f2d4f53ceed 372
m5171135 2:3f2d4f53ceed 373 case 2:
kityann 11:4d71c9cc3b4a 374 //nowMode = AUTO_MODE;
kityann 11:4d71c9cc3b4a 375 //eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0);
s1200058 20:fec2d6dec897 376 //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,2.0);
kityann 11:4d71c9cc3b4a 377 nowMode = AUTO_GPS_MODE;
s1200058 33:c11a9cb35840 378 Move_Timer.reset();
m5171135 2:3f2d4f53ceed 379 break;
m5171135 4:04dadf67ecb6 380
m5171135 4:04dadf67ecb6 381 case 3:
s1200058 20:fec2d6dec897 382 //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,0.2);
m5171135 4:04dadf67ecb6 383 nowMode = AUTO_GPS_MODE;
s1200058 33:c11a9cb35840 384 Move_Timer.reset();
m5171135 4:04dadf67ecb6 385 break;
m5171135 4:04dadf67ecb6 386
m5171135 6:f164a716be46 387 default:
m5171135 6:f164a716be46 388 nowMode = STANDBY_MODE;
m5171135 6:f164a716be46 389 break;
m5171135 5:3f51eeb5aedc 390
m5171135 2:3f2d4f53ceed 391 }
m5171135 2:3f2d4f53ceed 392 return false;
m5171135 2:3f2d4f53ceed 393 }
m5171135 5:3f51eeb5aedc 394
m5171135 5:3f51eeb5aedc 395
m5171135 2:3f2d4f53ceed 396