aigamozu / AigamozuControlPackets_for_auto

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Dependencies:   VNH5019

Fork of AigamozuControlPackets by aigamozu

AigamozuControlPackets.h@13:a5bc425540a7, 2015-04-20 (annotated)

Committer:
kityann
Date:
Mon Apr 20 10:36:16 2015 +0000
Revision:
13:a5bc425540a7
Parent:
11:4d71c9cc3b4a
Child:
17:a6fa8cc96d94
improve the Kalman system

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m5171135 0:2b8b56ac7a82 1 #include "mbed.h"
m5171135 0:2b8b56ac7a82 2 #include "VNH5019.h"
m5171135 0:2b8b56ac7a82 3
m5171135 0:2b8b56ac7a82 4 #ifndef AIGAMOZU_CONTROL_PACKETS
m5171135 0:2b8b56ac7a82 5 #define AIGAMOZU_CONTROL_PACKETS
m5171135 0:2b8b56ac7a82 6
m5171135 2:3f2d4f53ceed 7 #define MANUAL_COMMAND_LENGTH 17
m5171135 2:3f2d4f53ceed 8 #define REQUEST_COMMNAD_LENGTH 11
m5171135 2:3f2d4f53ceed 9 #define CHANGE_MODE_COMMAND_LENGTH 12
m5171135 2:3f2d4f53ceed 10 #define RECEIVE_STATUS_COMMNAD_LENGTH 32
m5171135 0:2b8b56ac7a82 11
m5171135 7:200ce5c1f486 12 #define vertex2D vector2D
m5171135 7:200ce5c1f486 13
kityann 13:a5bc425540a7 14 enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R',RECEIVE_KALMAN = 'K'};
m5171135 4:04dadf67ecb6 15 enum MODE {STANDBY_MODE = 0, MANUAL_MODE = 1,AUTO_MODE = 2,AUTO_GPS_MODE = 3};
m5171135 6:f164a716be46 16 enum STATUS {GPS_AVAIL = 0, GPS_UNAVAIL = 1,GPS_OUT_AREA = 2};
m5171135 0:2b8b56ac7a82 17
m5171135 0:2b8b56ac7a82 18 union TEST_T{
m5171135 0:2b8b56ac7a82 19 long a;
m5171135 0:2b8b56ac7a82 20 uint8_t b[4];
m5171135 0:2b8b56ac7a82 21 };
m5171135 7:200ce5c1f486 22
m5171135 7:200ce5c1f486 23 struct vector2D{
m5171135 7:200ce5c1f486 24 double x;
m5171135 7:200ce5c1f486 25 double y;
m5171135 7:200ce5c1f486 26 };
m5171135 7:200ce5c1f486 27
m5171135 0:2b8b56ac7a82 28 class AigamozuControlPackets{
m5171135 0:2b8b56ac7a82 29
m5171135 6:f164a716be46 30 //--------PUBLIC-----------//
m5171135 0:2b8b56ac7a82 31 public:
m5171135 5:3f51eeb5aedc 32 AigamozuControlPackets(VNH5019 agzSheild);
m5171135 5:3f51eeb5aedc 33
m5171135 6:f164a716be46 34 Ticker eachModeInt;
m5171135 0:2b8b56ac7a82 35
m5171135 2:3f2d4f53ceed 36 uint8_t* packetData;
m5171135 2:3f2d4f53ceed 37 //Create Packet: Controller/Base -> Robot
m5171135 2:3f2d4f53ceed 38 void createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR);
s1200058 9:4f675487f06b 39 void createRequestCommand(uint8_t fromID,uint8_t toID);
m5171135 2:3f2d4f53ceed 40 void createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode);
m5171135 0:2b8b56ac7a82 41
m5171135 2:3f2d4f53ceed 42 //Create Packet: Robot -> Controller/Base
m5171135 2:3f2d4f53ceed 43 void createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL);
kityann 13:a5bc425540a7 44 void createReceiveStatusCommandwithKalman(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL);
m5171135 2:3f2d4f53ceed 45 //uint8_t* createAckPacket(uint8_t fromID,uint8_t toID);
m5171135 0:2b8b56ac7a82 46
m5171135 2:3f2d4f53ceed 47 //using create packet
m5171135 2:3f2d4f53ceed 48 uint8_t* getPacketData();
m5171135 2:3f2d4f53ceed 49 int getPacketLength();
m5171135 2:3f2d4f53ceed 50
m5171135 2:3f2d4f53ceed 51 //Change Mode:
m5171135 2:3f2d4f53ceed 52 bool changeMode(uint8_t *buf);
m5171135 5:3f51eeb5aedc 53
m5171135 5:3f51eeb5aedc 54 //Check Command Type using xbee buffer;
m5171135 0:2b8b56ac7a82 55 uint8_t checkCommnadType(uint8_t* buf);
m5171135 0:2b8b56ac7a82 56
s1200058 9:4f675487f06b 57 //Change Speed
m5171135 5:3f51eeb5aedc 58 void changeSpeed(uint8_t* buf);
m5171135 5:3f51eeb5aedc 59
m5171135 0:2b8b56ac7a82 60 MODE nowMode;
m5171135 0:2b8b56ac7a82 61 STATUS nowStatus;
m5171135 4:04dadf67ecb6 62 int packetLength;
m5171135 4:04dadf67ecb6 63
m5171135 4:04dadf67ecb6 64
kityann 13:a5bc425540a7 65 void reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL);
kityann 13:a5bc425540a7 66 void reNewBasePointKalman(int id, long latitudeH,long latitudeL,long longitudeH,long longitudeL);
kityann 11:4d71c9cc3b4a 67 void reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL);
kityann 11:4d71c9cc3b4a 68 void reNewBasePoint(int id, long latitudeH,long latitudeL,long longitudeH,long longitudeL);
kityann 13:a5bc425540a7 69
m5171135 6:f164a716be46 70 //--------PRIVATE-----------//
m5171135 0:2b8b56ac7a82 71 private:
m5171135 5:3f51eeb5aedc 72 //
m5171135 5:3f51eeb5aedc 73 VNH5019 _agzSheild;
m5171135 5:3f51eeb5aedc 74
m5171135 5:3f51eeb5aedc 75 void manualMode();
m5171135 5:3f51eeb5aedc 76 int manualCount;
m5171135 5:3f51eeb5aedc 77
m5171135 5:3f51eeb5aedc 78 //Auto Type 1 -> Random
m5171135 5:3f51eeb5aedc 79 void randomAuto();
m5171135 5:3f51eeb5aedc 80 int randomCount;
m5171135 5:3f51eeb5aedc 81
m5171135 5:3f51eeb5aedc 82 //Auto Type 2 -> GPS
m5171135 5:3f51eeb5aedc 83 void gpsAuto();
m5171135 7:200ce5c1f486 84
m5171135 7:200ce5c1f486 85 vector2D agzPoint;
kityann 13:a5bc425540a7 86 vector2D agzPointKalman;
m5171135 7:200ce5c1f486 87 vector2D sub_vector( const vector2D& a, const vector2D& b );
m5171135 7:200ce5c1f486 88 bool checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P);
m5171135 7:200ce5c1f486 89
m5171135 7:200ce5c1f486 90 vector2D basePoint[4];
kityann 13:a5bc425540a7 91 vector2D basePointKalman[4];
m5171135 7:200ce5c1f486 92
m5171135 0:2b8b56ac7a82 93 };
m5171135 0:2b8b56ac7a82 94
m5171135 0:2b8b56ac7a82 95 #endif