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@48:ee5a6906273e, 2016-06-11 (annotated)

Committer:
s1200058
Date:
Sat Jun 11 03:40:16 2016 +0000
Revision:
48:ee5a6906273e
Parent:
47:4da5b1b048aa
Child:
50:3511be172d81
change turning time

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
s1200058 48:ee5a6906273e 4 const int turn_time[3] = {1, 2, 3};
s1200058 48:ee5a6906273e 5 int tt = 0;
s1200058 48:ee5a6906273e 6
m5171135 6:f164a716be46 7 //////////////////////////////
m5171135 6:f164a716be46 8 // Init //
m5171135 6:f164a716be46 9 //////////////////////////////
m5171135 5:3f51eeb5aedc 10 AigamozuControlPackets::AigamozuControlPackets(VNH5019 agzSheild):_agzSheild(agzSheild){
m5171135 2:3f2d4f53ceed 11 packetData = new uint8_t[50];
m5171135 2:3f2d4f53ceed 12 packetLength = 0;
m5171135 7:200ce5c1f486 13 //--init base point--//
kityann 11:4d71c9cc3b4a 14 //basePoint[0].x = 13956.2655;
kityann 11:4d71c9cc3b4a 15 //basePoint[0].y = 3731.5060;
kityann 11:4d71c9cc3b4a 16 basePoint[0].x = 100.2655;
kityann 11:4d71c9cc3b4a 17 basePoint[0].y = 30.5060;
m5171135 7:200ce5c1f486 18
kityann 11:4d71c9cc3b4a 19 //basePoint[1].x = 13956.2898;
kityann 11:4d71c9cc3b4a 20 //basePoint[1].y = 3731.5055;
kityann 11:4d71c9cc3b4a 21 basePoint[1].x = 200.2898;
kityann 11:4d71c9cc3b4a 22 basePoint[1].y = 30.5055;
m5171135 7:200ce5c1f486 23
kityann 11:4d71c9cc3b4a 24 //basePoint[2].x = 13956.2915;
kityann 11:4d71c9cc3b4a 25 //basePoint[2].y = 3731.5245;
kityann 11:4d71c9cc3b4a 26 basePoint[2].x = 200.2915;
kityann 11:4d71c9cc3b4a 27 basePoint[2].y = 40.5245;
m5171135 7:200ce5c1f486 28
kityann 11:4d71c9cc3b4a 29 //basePoint[3].x = 13956.2680;
kityann 11:4d71c9cc3b4a 30 //basePoint[3].y = 3731.5248;
kityann 11:4d71c9cc3b4a 31 basePoint[3].x = 100.2680;
kityann 11:4d71c9cc3b4a 32 basePoint[3].y = 40.5248;
kityann 17:a6fa8cc96d94 33
kityann 17:a6fa8cc96d94 34 agzPoint.x=0;agzPoint.y=0;
kityann 17:a6fa8cc96d94 35 agzPointKalman.x=0;agzPointKalman.y=0;
kityann 17:a6fa8cc96d94 36 agzCov.x=0;agzCov.y=0;
m5171135 2:3f2d4f53ceed 37 }
m5171135 2:3f2d4f53ceed 38
kityann 17:a6fa8cc96d94 39 //////////////////////////////
kityann 17:a6fa8cc96d94 40 // get関数
kityann 17:a6fa8cc96d94 41 //////////////////////////////
kityann 17:a6fa8cc96d94 42 double AigamozuControlPackets::get_agzPoint_lati(){
kityann 17:a6fa8cc96d94 43 return agzPoint.x;
kityann 17:a6fa8cc96d94 44 }
kityann 17:a6fa8cc96d94 45 double AigamozuControlPackets::get_agzPoint_longi(){
kityann 17:a6fa8cc96d94 46 return agzPoint.y;
kityann 17:a6fa8cc96d94 47 }
kityann 17:a6fa8cc96d94 48 double AigamozuControlPackets::get_agzPointKalman_lati(){
kityann 17:a6fa8cc96d94 49 return agzPointKalman.x;
kityann 17:a6fa8cc96d94 50 }
kityann 17:a6fa8cc96d94 51 double AigamozuControlPackets::get_agzPointKalman_longi(){
kityann 17:a6fa8cc96d94 52 return agzPointKalman.y;
kityann 17:a6fa8cc96d94 53 }
kityann 17:a6fa8cc96d94 54 double AigamozuControlPackets::get_agzCov_lati(){
kityann 17:a6fa8cc96d94 55 return agzCov.x;
kityann 17:a6fa8cc96d94 56 }
kityann 17:a6fa8cc96d94 57 double AigamozuControlPackets::get_agzCov_longi(){
kityann 17:a6fa8cc96d94 58 return agzCov.y;
kityann 17:a6fa8cc96d94 59 }
s1200058 20:fec2d6dec897 60
s1200058 20:fec2d6dec897 61 double AigamozuControlPackets::get_basePoint_lati(int i){
s1200058 20:fec2d6dec897 62 return basePoint[i].x;
s1200058 20:fec2d6dec897 63 }
s1200058 20:fec2d6dec897 64 double AigamozuControlPackets::get_basePoint_longi(int i){
s1200058 20:fec2d6dec897 65 return basePoint[i].y;
s1200058 20:fec2d6dec897 66 }
kityann 19:13b24b50800e 67 double AigamozuControlPackets::get_basePointKalman_lati(int i){
kityann 19:13b24b50800e 68 return basePointKalman[i].x;
kityann 19:13b24b50800e 69 }
kityann 19:13b24b50800e 70 double AigamozuControlPackets::get_basePointKalman_longi(int i){
kityann 19:13b24b50800e 71 return basePointKalman[i].y;
kityann 19:13b24b50800e 72 }
kityann 19:13b24b50800e 73
m5171135 2:3f2d4f53ceed 74 //////////////////////////////
kityann 17:a6fa8cc96d94 75 // set関数
kityann 17:a6fa8cc96d94 76 //////////////////////////////
kityann 17:a6fa8cc96d94 77 void AigamozuControlPackets::set_agzCov(double cov_lati,double cov_longi){
s1200058 35:b33b8b2a92b0 78 agzCov.x = cov_lati;
s1200058 35:b33b8b2a92b0 79 agzCov.y = cov_longi;
kityann 17:a6fa8cc96d94 80 }
s1200058 20:fec2d6dec897 81
s1200058 34:08491a77e458 82 void AigamozuControlPackets::set_agzPointKalman_lati(double kalman_lati){
s1200058 34:08491a77e458 83
s1200058 34:08491a77e458 84 agzPointKalman.x = kalman_lati;
s1200058 34:08491a77e458 85
s1200058 34:08491a77e458 86 }
s1200058 34:08491a77e458 87
s1200058 34:08491a77e458 88 void AigamozuControlPackets::set_agzPointKalman_longi(double kalman_longi){
s1200058 34:08491a77e458 89
s1200058 34:08491a77e458 90 agzPointKalman.y = kalman_longi;
s1200058 34:08491a77e458 91
s1200058 20:fec2d6dec897 92 }
s1200058 20:fec2d6dec897 93
kityann 17:a6fa8cc96d94 94 //////////////////////////////
m5171135 2:3f2d4f53ceed 95 // Controller/Base -> Robot //
m5171135 2:3f2d4f53ceed 96 //////////////////////////////
m5171135 4:04dadf67ecb6 97
m5171135 2:3f2d4f53ceed 98 void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR)
m5171135 2:3f2d4f53ceed 99 {
m5171135 2:3f2d4f53ceed 100 uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'};
m5171135 2:3f2d4f53ceed 101 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 102 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 103 }
m5171135 2:3f2d4f53ceed 104
s1200058 9:4f675487f06b 105 void AigamozuControlPackets::createRequestCommand(uint8_t fromID,uint8_t toID)
m5171135 0:2b8b56ac7a82 106 {
m5171135 2:3f2d4f53ceed 107 uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'A','G','E'};
m5171135 2:3f2d4f53ceed 108 for(int i = 0; i < REQUEST_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 109 packetLength = REQUEST_COMMNAD_LENGTH;
m5171135 2:3f2d4f53ceed 110 }
m5171135 0:2b8b56ac7a82 111
m5171135 2:3f2d4f53ceed 112 void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode){
m5171135 2:3f2d4f53ceed 113 uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,mode,'A','G','E'};
m5171135 2:3f2d4f53ceed 114 for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 115 packetLength = CHANGE_MODE_COMMAND_LENGTH;
m5171135 2:3f2d4f53ceed 116 }
m5171135 2:3f2d4f53ceed 117
m5171135 2:3f2d4f53ceed 118
m5171135 2:3f2d4f53ceed 119 //////////////////////////////
m5171135 2:3f2d4f53ceed 120 // Robot -> Controller/Base //
m5171135 2:3f2d4f53ceed 121 //////////////////////////////
m5171135 2:3f2d4f53ceed 122
s1200058 24:ed71894a6952 123 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 124 {
kityann 17:a6fa8cc96d94 125 UNION_double_char latitude_data,longitude_data, latitudeKalman_data, longitudeKalman_data;
kityann 17:a6fa8cc96d94 126 UNION_double_char covarLati_data,covarLongi_data;
m5171135 0:2b8b56ac7a82 127
kityann 17:a6fa8cc96d94 128 latitude_data.double_value=latitude;
kityann 17:a6fa8cc96d94 129 longitude_data.double_value=longitude;
kityann 18:01882120e6cf 130 latitudeKalman_data.double_value=latitudeKalman;
kityann 17:a6fa8cc96d94 131 longitudeKalman_data.double_value=longitudeKalman;
kityann 17:a6fa8cc96d94 132 covarLati_data.double_value=covarLati;
kityann 17:a6fa8cc96d94 133 covarLongi_data.double_value=covarLongi;
kityann 18:01882120e6cf 134
s1200058 24:ed71894a6952 135
s1200058 24:ed71894a6952 136 uint8_t tmp[] = {'A','G','S','R','F',fromID,'T',toID,'S', state,71,80,83,
kityann 17:a6fa8cc96d94 137 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 138 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 139 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 140 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 141 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 142 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 143 65,71,69};
m5171135 2:3f2d4f53ceed 144 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i];
m5171135 2:3f2d4f53ceed 145 packetLength = RECEIVE_STATUS_COMMNAD_LENGTH;
m5171135 0:2b8b56ac7a82 146 }
m5171135 0:2b8b56ac7a82 147
kityann 13:a5bc425540a7 148
m5171135 2:3f2d4f53ceed 149
m5171135 2:3f2d4f53ceed 150 //////////////////////////////
m5171135 2:3f2d4f53ceed 151 // Using createPacket //
m5171135 2:3f2d4f53ceed 152 //////////////////////////////
m5171135 4:04dadf67ecb6 153 uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){
m5171135 4:04dadf67ecb6 154 return buf[14];
m5171135 4:04dadf67ecb6 155 }
m5171135 2:3f2d4f53ceed 156
m5171135 2:3f2d4f53ceed 157 uint8_t* AigamozuControlPackets::getPacketData(){
m5171135 2:3f2d4f53ceed 158 return packetData;
m5171135 2:3f2d4f53ceed 159 }
m5171135 2:3f2d4f53ceed 160
m5171135 2:3f2d4f53ceed 161 int AigamozuControlPackets::getPacketLength(){
m5171135 2:3f2d4f53ceed 162 return packetLength;
m5171135 0:2b8b56ac7a82 163 }
m5171135 0:2b8b56ac7a82 164
m5171135 5:3f51eeb5aedc 165 void AigamozuControlPackets::changeSpeed(uint8_t* buf){
m5171135 5:3f51eeb5aedc 166 if(nowMode == MANUAL_MODE){
m5171135 5:3f51eeb5aedc 167 manualCount =0;
m5171135 5:3f51eeb5aedc 168 _agzSheild.changeSpeed(buf[20],buf[21],buf[23],buf[24]);
m5171135 5:3f51eeb5aedc 169 }
m5171135 5:3f51eeb5aedc 170 }
m5171135 4:04dadf67ecb6 171
m5171135 6:f164a716be46 172 //////////////////////////////
m5171135 6:f164a716be46 173 // each mode interrupt //
m5171135 6:f164a716be46 174 //////////////////////////////
m5171135 6:f164a716be46 175
m5171135 6:f164a716be46 176 void AigamozuControlPackets::manualMode(){
m5171135 6:f164a716be46 177 manualCount++;
m5171135 6:f164a716be46 178 if(manualCount > 10){
m5171135 6:f164a716be46 179 _agzSheild.changeSpeed(0,0,0,0);
m5171135 6:f164a716be46 180 manualCount = 0;
m5171135 6:f164a716be46 181 }
m5171135 6:f164a716be46 182 }
m5171135 6:f164a716be46 183
m5171135 6:f164a716be46 184
m5171135 5:3f51eeb5aedc 185 void AigamozuControlPackets::randomAuto(){
m5171135 2:3f2d4f53ceed 186
m5171135 5:3f51eeb5aedc 187 randomCount++;
m5171135 5:3f51eeb5aedc 188
m5171135 5:3f51eeb5aedc 189 if(randomCount < 10) _agzSheild.changeSpeed(1,128,1,128);
m5171135 5:3f51eeb5aedc 190 else if(randomCount < 11) _agzSheild.changeSpeed(2,128,2,128);
m5171135 5:3f51eeb5aedc 191 else randomCount = 0;
m5171135 5:3f51eeb5aedc 192
m5171135 5:3f51eeb5aedc 193 }
s1200058 48:ee5a6906273e 194
s1200058 48:ee5a6906273e 195 /*
s1200058 32:cd68a37d1ee1 196 void AigamozuControlPackets::test_Auto(int flag){
s1200058 32:cd68a37d1ee1 197
s1200058 32:cd68a37d1ee1 198 if(flag == 0){
s1200058 32:cd68a37d1ee1 199 _agzSheild.changeSpeed(1, 64, 1, 64); //straight
s1200058 32:cd68a37d1ee1 200 }
s1200058 32:cd68a37d1ee1 201 if(flag == 1){
s1200058 32:cd68a37d1ee1 202 _agzSheild.changeSpeed(0, 64, 0, 64);
s1200058 32:cd68a37d1ee1 203 }
s1200058 32:cd68a37d1ee1 204 if(flag == 2){
s1200058 37:5654e31ad452 205 _agzSheild.changeSpeed(1, 64, 1, 16); //Turn Right
s1200058 32:cd68a37d1ee1 206 }
s1200058 32:cd68a37d1ee1 207 if(flag == 3){
s1200058 32:cd68a37d1ee1 208 _agzSheild.changeSpeed(0, 64, 0, 64);
s1200058 32:cd68a37d1ee1 209 }
s1200058 32:cd68a37d1ee1 210 }
s1200058 48:ee5a6906273e 211 */
s1200058 32:cd68a37d1ee1 212
s1200058 20:fec2d6dec897 213 bool AigamozuControlPackets::gpsAuto(){
m5171135 5:3f51eeb5aedc 214
kityann 10:e77c664ee5e2 215 /*
kityann 10:e77c664ee5e2 216 _agzSheild.changeSpeed(2,128,2,128):for moving robot
kityann 10:e77c664ee5e2 217 */
kityann 10:e77c664ee5e2 218
s1200058 37:5654e31ad452 219 //Timer Automove_Timer;
s1200058 37:5654e31ad452 220 // bool out_flag = true;
s1200058 37:5654e31ad452 221 // static bool out_count_flag = false;
s1200058 48:ee5a6906273e 222 const int straight = 7000, wait = 8000;
s1200058 48:ee5a6906273e 223 int turning = wait + 1000*turn_time[tt]; //decide turning time
s1200058 48:ee5a6906273e 224 tt++;
s1200058 48:ee5a6906273e 225 if(tt == 3){
s1200058 48:ee5a6906273e 226 tt = 0;
s1200058 48:ee5a6906273e 227 }
kityann 10:e77c664ee5e2 228
s1200058 37:5654e31ad452 229
s1200058 41:2ec22c53aa26 230 if(AigamozuControlPackets::checkGpsHit(basePointKalman[0],basePointKalman[1],basePointKalman[2],agzPointKalman)
s1200058 41:2ec22c53aa26 231 && AigamozuControlPackets::checkGpsHit(basePointKalman[2],basePointKalman[3],basePointKalman[0],agzPointKalman)){
s1200058 37:5654e31ad452 232 out_flag = false;
s1200058 37:5654e31ad452 233 out_count_flag = false;
kityann 10:e77c664ee5e2 234 }else{//if robot is out
s1200058 37:5654e31ad452 235 out_flag = true;
m5171135 7:200ce5c1f486 236 }
s1200058 37:5654e31ad452 237
s1200058 37:5654e31ad452 238
kityann 10:e77c664ee5e2 239 //if robot is out:
s1200058 37:5654e31ad452 240 if(out_flag == true && out_count_flag == false){
kityann 10:e77c664ee5e2 241 Automove_Timer.reset();
kityann 10:e77c664ee5e2 242 out_count_flag = true;
kityann 10:e77c664ee5e2 243 }
s1200058 37:5654e31ad452 244 if(nowMode == AUTO_GPS_MODE){
s1200058 32:cd68a37d1ee1 245
s1200058 37:5654e31ad452 246 if(out_flag == true){
s1200058 47:4da5b1b048aa 247 /* if(Automove_Timer.read_ms() <= 5000){
s1200058 47:4da5b1b048aa 248 _agzSheild.changeSpeed(1,16,1,64);//turn left
s1200058 37:5654e31ad452 249 }else if(Automove_Timer.read_ms() <= 6000){
s1200058 47:4da5b1b048aa 250 _agzSheild.changeSpeed(0,64,0,64);
s1200058 37:5654e31ad452 251 }else if(Automove_Timer.read_ms() <= 10000){
s1200058 47:4da5b1b048aa 252 _agzSheild.changeSpeed(1,64,1,64);//straight*/
s1200058 47:4da5b1b048aa 253 if(Automove_Timer.read_ms() <5000){
s1200058 48:ee5a6906273e 254 _agzSheild.changeSpeed(2,speed,2, speed);
s1200058 47:4da5b1b048aa 255 }else if(Automove_Timer.read_ms() > 5000){
s1200058 37:5654e31ad452 256 Move_Timer.reset();
s1200058 48:ee5a6906273e 257 _agzSheild.changeSpeed(0,speed,0,speed);
s1200058 37:5654e31ad452 258 out_count_flag=false;
s1200058 37:5654e31ad452 259 out_flag=false;
s1200058 46:246051b4f24d 260 printf("reset timer\n");
s1200058 37:5654e31ad452 261 }
s1200058 37:5654e31ad452 262 }else{
s1200058 37:5654e31ad452 263 //if robot is inner
s1200058 37:5654e31ad452 264 // _agzSheild.changeSpeed(1,64,1,64);//straight
s1200058 37:5654e31ad452 265 if(Move_Timer.read_ms() < straight){
s1200058 48:ee5a6906273e 266 _agzSheild.changeSpeed(1, speed, 1, speed); //straight
s1200058 37:5654e31ad452 267 }
s1200058 37:5654e31ad452 268 else if(Move_Timer.read_ms() < wait){
s1200058 48:ee5a6906273e 269 _agzSheild.changeSpeed(0, speed, 0, speed);
s1200058 37:5654e31ad452 270 }
s1200058 37:5654e31ad452 271 else if(Move_Timer.read_ms() < turning){
s1200058 48:ee5a6906273e 272 _agzSheild.changeSpeed(1, speed, 1, 16); //Turn Right
s1200058 37:5654e31ad452 273 }
s1200058 37:5654e31ad452 274 else if(Move_Timer.read_ms() > turning){
s1200058 48:ee5a6906273e 275 _agzSheild.changeSpeed(0, speed, 0, speed);
s1200058 37:5654e31ad452 276 wait_ms(500);
s1200058 37:5654e31ad452 277 Move_Timer.reset();
s1200058 37:5654e31ad452 278 }
s1200058 37:5654e31ad452 279 }
s1200058 37:5654e31ad452 280 }
s1200058 38:4e8cfe5e4bfb 281
s1200058 20:fec2d6dec897 282 return out_flag;
kityann 10:e77c664ee5e2 283
kityann 10:e77c664ee5e2 284 }
s1200058 37:5654e31ad452 285
s1200058 37:5654e31ad452 286
m5171135 7:200ce5c1f486 287 //Update Robot Point
kityann 11:4d71c9cc3b4a 288 void AigamozuControlPackets::reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
kityann 18:01882120e6cf 289 agzPoint.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
kityann 18:01882120e6cf 290 agzPoint.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
m5171135 7:200ce5c1f486 291
m5171135 7:200ce5c1f486 292 }
kityann 11:4d71c9cc3b4a 293
kityann 11:4d71c9cc3b4a 294 //Updata Base Point
kityann 19:13b24b50800e 295 void AigamozuControlPackets::reNewBasePoint(int id, uint8_t *latitude,uint8_t *longitude){
kityann 19:13b24b50800e 296 UNION_double_char lat,longi;
kityann 19:13b24b50800e 297 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 298 lat.char_value[i]=latitude[i];
kityann 19:13b24b50800e 299 }
kityann 19:13b24b50800e 300 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 301 longi.char_value[i]=longitude[i];
kityann 19:13b24b50800e 302 }
kityann 19:13b24b50800e 303 basePoint[id].x = lat.double_value;
kityann 19:13b24b50800e 304 basePoint[id].y = longi.double_value;
kityann 11:4d71c9cc3b4a 305 }
m5171135 7:200ce5c1f486 306
kityann 13:a5bc425540a7 307 //Update Robot Point
kityann 13:a5bc425540a7 308 void AigamozuControlPackets::reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL){
kityann 18:01882120e6cf 309 agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 10000.0/60.0);
kityann 18:01882120e6cf 310 agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 10000.0/60.0);
kityann 13:a5bc425540a7 311
kityann 13:a5bc425540a7 312 }
kityann 13:a5bc425540a7 313
kityann 13:a5bc425540a7 314 //Updata Base Point
kityann 19:13b24b50800e 315 void AigamozuControlPackets::reNewBasePointKalman(int id, uint8_t *latitude,uint8_t *longitude){
kityann 19:13b24b50800e 316 UNION_double_char lat,longi;
kityann 19:13b24b50800e 317 for(int i = 0;i < 8;i++){
s1200058 37:5654e31ad452 318 lat.char_value[i]=latitude[i];
kityann 19:13b24b50800e 319 }
kityann 19:13b24b50800e 320 for(int i = 0;i < 8;i++){
kityann 19:13b24b50800e 321 longi.char_value[i]=longitude[i];
kityann 19:13b24b50800e 322 }
kityann 19:13b24b50800e 323
kityann 19:13b24b50800e 324 basePointKalman[id].x = lat.double_value;
kityann 19:13b24b50800e 325 basePointKalman[id].y = longi.double_value;
s1200058 31:8753fbab3f1f 326 }
kityann 13:a5bc425540a7 327
m5171135 7:200ce5c1f486 328
m5171135 7:200ce5c1f486 329 //Check Hit Point Area
s1200058 41:2ec22c53aa26 330 bool AigamozuControlPackets::checkGpsHit( vector2D A, vector2D B, vector2D C, vector2D P){
s1200058 45:c57a98331225 331 vector2D AB = AigamozuControlPackets::sub_vector(A, B);
m5171135 7:200ce5c1f486 332 vector2D BP = AigamozuControlPackets::sub_vector(P, B);
s1200058 37:5654e31ad452 333
m5171135 7:200ce5c1f486 334 vector2D BC = AigamozuControlPackets::sub_vector(C, B);
s1200058 41:2ec22c53aa26 335 // vector2D CP = AigamozuControlPackets::sub_vector(P, C);
s1200058 37:5654e31ad452 336
s1200058 41:2ec22c53aa26 337 // vector2D CA = AigamozuControlPackets::sub_vector(A, C);
s1200058 41:2ec22c53aa26 338 // vector2D AP = AigamozuControlPackets::sub_vector(P, A);
m5171135 7:200ce5c1f486 339
m5171135 7:200ce5c1f486 340 double c1 = AB.x * BP.y - AB.y * BP.x;
s1200058 46:246051b4f24d 341 double c2 = BP.x * BC.y - BP.y * BC.x;
s1200058 37:5654e31ad452 342
s1200058 41:2ec22c53aa26 343 if( ( c1 > 0 && c2 > 0) || ( c1 < 0 && c2 < 0) ) {
m5171135 7:200ce5c1f486 344 return true;
m5171135 5:3f51eeb5aedc 345 }
m5171135 6:f164a716be46 346
m5171135 7:200ce5c1f486 347 return false;
m5171135 7:200ce5c1f486 348
s1200058 37:5654e31ad452 349 }
m5171135 7:200ce5c1f486 350
m5171135 7:200ce5c1f486 351 vector2D AigamozuControlPackets::sub_vector( const vector2D& a, const vector2D& b )
m5171135 7:200ce5c1f486 352 {
m5171135 7:200ce5c1f486 353 vector2D ret;
m5171135 7:200ce5c1f486 354 ret.x = a.x - b.x;
m5171135 7:200ce5c1f486 355 ret.y = a.y - b.y;
m5171135 7:200ce5c1f486 356 return ret;
m5171135 7:200ce5c1f486 357 }
m5171135 7:200ce5c1f486 358
m5171135 7:200ce5c1f486 359
m5171135 7:200ce5c1f486 360
m5171135 5:3f51eeb5aedc 361
m5171135 6:f164a716be46 362 //////////////////////////////
m5171135 6:f164a716be46 363 // Mode change //
m5171135 6:f164a716be46 364 //////////////////////////////
m5171135 2:3f2d4f53ceed 365 bool AigamozuControlPackets::changeMode(uint8_t *buf){
m5171135 2:3f2d4f53ceed 366
m5171135 6:f164a716be46 367 //reset
m5171135 5:3f51eeb5aedc 368 _agzSheild.changeSpeed(0,0,0,0);
m5171135 6:f164a716be46 369 eachModeInt.detach();
m5171135 5:3f51eeb5aedc 370
m5171135 6:f164a716be46 371 //Select Mode
s1200058 29:3a2d87c10e43 372 switch(buf[19]){
m5171135 2:3f2d4f53ceed 373 case 0:
m5171135 2:3f2d4f53ceed 374 nowMode = STANDBY_MODE;
m5171135 2:3f2d4f53ceed 375 break;
m5171135 2:3f2d4f53ceed 376
m5171135 2:3f2d4f53ceed 377 case 1:
m5171135 6:f164a716be46 378 eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0);
m5171135 2:3f2d4f53ceed 379 nowMode = MANUAL_MODE;
m5171135 2:3f2d4f53ceed 380 break;
m5171135 2:3f2d4f53ceed 381
m5171135 2:3f2d4f53ceed 382 case 2:
kityann 11:4d71c9cc3b4a 383 //nowMode = AUTO_MODE;
kityann 11:4d71c9cc3b4a 384 //eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0);
s1200058 20:fec2d6dec897 385 //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,2.0);
kityann 11:4d71c9cc3b4a 386 nowMode = AUTO_GPS_MODE;
s1200058 33:c11a9cb35840 387 Move_Timer.reset();
m5171135 2:3f2d4f53ceed 388 break;
m5171135 4:04dadf67ecb6 389
m5171135 4:04dadf67ecb6 390 case 3:
s1200058 20:fec2d6dec897 391 //eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,0.2);
m5171135 4:04dadf67ecb6 392 nowMode = AUTO_GPS_MODE;
s1200058 33:c11a9cb35840 393 Move_Timer.reset();
m5171135 4:04dadf67ecb6 394 break;
m5171135 4:04dadf67ecb6 395
m5171135 6:f164a716be46 396 default:
m5171135 6:f164a716be46 397 nowMode = STANDBY_MODE;
m5171135 6:f164a716be46 398 break;
m5171135 5:3f51eeb5aedc 399
m5171135 2:3f2d4f53ceed 400 }
m5171135 2:3f2d4f53ceed 401 return false;
m5171135 2:3f2d4f53ceed 402 }
m5171135 5:3f51eeb5aedc 403
m5171135 5:3f51eeb5aedc 404
m5171135 2:3f2d4f53ceed 405