File content as of revision 8:aff2d67d31c8:

#include "mbed.h"
#include "VNH5019.h"

#ifndef AIGAMOZU_CONTROL_PACKETS
#define AIGAMOZU_CONTROL_PACKETS

#define MANUAL_COMMAND_LENGTH 17
#define REQUEST_COMMNAD_LENGTH 11
#define CHANGE_MODE_COMMAND_LENGTH 12
#define RECEIVE_STATUS_COMMNAD_LENGTH 32

#define vertex2D vector2D

enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R', REQUEST_COMMAND = 'Q'};
enum MODE {STANDBY_MODE = 0, MANUAL_MODE = 1,AUTO_MODE = 2,AUTO_GPS_MODE = 3};
enum STATUS {GPS_AVAIL = 0, GPS_UNAVAIL = 1,GPS_OUT_AREA = 2};

union TEST_T{
    long a;
    uint8_t b[4];
    };

struct vector2D{
    double x;
    double y;
    };

class AigamozuControlPackets{
    
    //--------PUBLIC-----------//
    public:
    AigamozuControlPackets(VNH5019 agzSheild);
    
    Ticker eachModeInt;
    
    uint8_t* packetData;
    //Create Packet: Controller/Base -> Robot 
    void createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR);
    void createRequestCommand(uint8_t fromID,uint8_t toID,uint8_t);
    void createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode);
    
    //Create Packet: Robot -> Controller/Base 
    void createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL);
    //uint8_t* createAckPacket(uint8_t fromID,uint8_t toID);
    
    //using create packet
    uint8_t* getPacketData();
    int getPacketLength();
    
    //Change Mode: 
    bool changeMode(uint8_t *buf); 
    
    //Check Command Type using xbee buffer;
    uint8_t checkCommnadType(uint8_t* buf);
    
    //Change Motor Speed
    void changeSpeed(uint8_t* buf);
    
    MODE nowMode;
    STATUS nowStatus;
    int packetLength;
    
    
    void reNewPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL);
    
    //--------PRIVATE-----------//
    private:
    //
    VNH5019 _agzSheild;
    
    void manualMode();
    int manualCount;
    
    //Auto Type 1 -> Random
    void randomAuto();
    int randomCount;
    
    //Auto Type 2 -> GPS 
    void gpsAuto();
    
    vector2D agzPoint;
    vector2D sub_vector( const vector2D& a, const vector2D& b );
    bool checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P);
    
    vector2D basePoint[4];
    
    };
    
#endif