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Dependencies: VNH5019
Fork of AigamozuControlPackets by
AigamozuControlPackets.cpp@10:e77c664ee5e2, 2015-04-11 (annotated)
- Committer:
- kityann
- Date:
- Sat Apr 11 12:25:25 2015 +0000
- Revision:
- 10:e77c664ee5e2
- Parent:
- 9:4f675487f06b
- Child:
- 11:4d71c9cc3b4a
auto
Who changed what in which revision?
User | Revision | Line number | New 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--// |
m5171135 | 7:200ce5c1f486 | 11 | basePoint[0].x = 13956.2655; |
m5171135 | 7:200ce5c1f486 | 12 | basePoint[0].y = 3731.5060; |
m5171135 | 7:200ce5c1f486 | 13 | |
m5171135 | 7:200ce5c1f486 | 14 | basePoint[1].x = 13956.2898; |
m5171135 | 7:200ce5c1f486 | 15 | basePoint[1].y = 3731.5055; |
m5171135 | 7:200ce5c1f486 | 16 | |
m5171135 | 7:200ce5c1f486 | 17 | basePoint[2].x = 13956.2915; |
m5171135 | 7:200ce5c1f486 | 18 | basePoint[2].y = 3731.5245; |
m5171135 | 7:200ce5c1f486 | 19 | |
m5171135 | 7:200ce5c1f486 | 20 | basePoint[3].x = 13956.2680; |
m5171135 | 7:200ce5c1f486 | 21 | basePoint[3].y = 3731.5248; |
m5171135 | 2:3f2d4f53ceed | 22 | } |
m5171135 | 2:3f2d4f53ceed | 23 | |
m5171135 | 5:3f51eeb5aedc | 24 | |
m5171135 | 2:3f2d4f53ceed | 25 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 26 | // Controller/Base -> Robot // |
m5171135 | 2:3f2d4f53ceed | 27 | ////////////////////////////// |
m5171135 | 4:04dadf67ecb6 | 28 | |
m5171135 | 2:3f2d4f53ceed | 29 | void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR) |
m5171135 | 2:3f2d4f53ceed | 30 | { |
m5171135 | 2:3f2d4f53ceed | 31 | uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'}; |
m5171135 | 2:3f2d4f53ceed | 32 | for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 33 | packetLength = RECEIVE_STATUS_COMMNAD_LENGTH; |
m5171135 | 2:3f2d4f53ceed | 34 | } |
m5171135 | 2:3f2d4f53ceed | 35 | |
s1200058 | 9:4f675487f06b | 36 | void AigamozuControlPackets::createRequestCommand(uint8_t fromID,uint8_t toID) |
m5171135 | 0:2b8b56ac7a82 | 37 | { |
m5171135 | 2:3f2d4f53ceed | 38 | uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'A','G','E'}; |
m5171135 | 2:3f2d4f53ceed | 39 | for(int i = 0; i < REQUEST_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 40 | packetLength = REQUEST_COMMNAD_LENGTH; |
m5171135 | 2:3f2d4f53ceed | 41 | } |
m5171135 | 0:2b8b56ac7a82 | 42 | |
m5171135 | 2:3f2d4f53ceed | 43 | void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode){ |
m5171135 | 2:3f2d4f53ceed | 44 | uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,mode,'A','G','E'}; |
m5171135 | 2:3f2d4f53ceed | 45 | for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 46 | packetLength = CHANGE_MODE_COMMAND_LENGTH; |
m5171135 | 2:3f2d4f53ceed | 47 | } |
m5171135 | 2:3f2d4f53ceed | 48 | |
m5171135 | 2:3f2d4f53ceed | 49 | |
m5171135 | 2:3f2d4f53ceed | 50 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 51 | // Robot -> Controller/Base // |
m5171135 | 2:3f2d4f53ceed | 52 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 53 | |
m5171135 | 2:3f2d4f53ceed | 54 | void AigamozuControlPackets::createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL) |
m5171135 | 2:3f2d4f53ceed | 55 | { |
m5171135 | 0:2b8b56ac7a82 | 56 | //useing union's split::: long hoge.a(4byte) == uint8_t hoge.b[4] |
m5171135 | 0:2b8b56ac7a82 | 57 | TEST_T latH,latL,lonH,lonL; |
m5171135 | 0:2b8b56ac7a82 | 58 | |
m5171135 | 0:2b8b56ac7a82 | 59 | latH.a = latitudeH; |
m5171135 | 0:2b8b56ac7a82 | 60 | latL.a = latitudeL; |
m5171135 | 0:2b8b56ac7a82 | 61 | lonH.a = longitudeH; |
m5171135 | 0:2b8b56ac7a82 | 62 | lonL.a = longitudeL; |
m5171135 | 0:2b8b56ac7a82 | 63 | |
m5171135 | 1:80448565c15c | 64 | uint8_t tmp[] = {'A','G','S','R','F',fromID,'T',toID,'S',nowStatus,71,80,83,latH.b[0],latH.b[1],latH.b[2],latH.b[3],latL.b[0],latL.b[1],latL.b[2],latL.b[3],lonH.b[0],lonH.b[1],lonH.b[2],lonH.b[3],lonL.b[0],lonL.b[1],lonL.b[2],lonL.b[3],65,71,69}; |
m5171135 | 2:3f2d4f53ceed | 65 | for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 66 | packetLength = RECEIVE_STATUS_COMMNAD_LENGTH; |
m5171135 | 0:2b8b56ac7a82 | 67 | } |
m5171135 | 0:2b8b56ac7a82 | 68 | |
m5171135 | 2:3f2d4f53ceed | 69 | |
m5171135 | 2:3f2d4f53ceed | 70 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 71 | // Using createPacket // |
m5171135 | 2:3f2d4f53ceed | 72 | ////////////////////////////// |
m5171135 | 4:04dadf67ecb6 | 73 | uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){ |
m5171135 | 4:04dadf67ecb6 | 74 | return buf[14]; |
m5171135 | 4:04dadf67ecb6 | 75 | } |
m5171135 | 2:3f2d4f53ceed | 76 | |
m5171135 | 2:3f2d4f53ceed | 77 | uint8_t* AigamozuControlPackets::getPacketData(){ |
m5171135 | 2:3f2d4f53ceed | 78 | return packetData; |
m5171135 | 2:3f2d4f53ceed | 79 | } |
m5171135 | 2:3f2d4f53ceed | 80 | |
m5171135 | 2:3f2d4f53ceed | 81 | int AigamozuControlPackets::getPacketLength(){ |
m5171135 | 2:3f2d4f53ceed | 82 | return packetLength; |
m5171135 | 0:2b8b56ac7a82 | 83 | } |
m5171135 | 0:2b8b56ac7a82 | 84 | |
m5171135 | 5:3f51eeb5aedc | 85 | void AigamozuControlPackets::changeSpeed(uint8_t* buf){ |
m5171135 | 5:3f51eeb5aedc | 86 | if(nowMode == MANUAL_MODE){ |
m5171135 | 5:3f51eeb5aedc | 87 | manualCount =0; |
m5171135 | 5:3f51eeb5aedc | 88 | _agzSheild.changeSpeed(buf[20],buf[21],buf[23],buf[24]); |
m5171135 | 5:3f51eeb5aedc | 89 | } |
m5171135 | 5:3f51eeb5aedc | 90 | } |
m5171135 | 4:04dadf67ecb6 | 91 | |
m5171135 | 6:f164a716be46 | 92 | ////////////////////////////// |
m5171135 | 6:f164a716be46 | 93 | // each mode interrupt // |
m5171135 | 6:f164a716be46 | 94 | ////////////////////////////// |
m5171135 | 6:f164a716be46 | 95 | |
m5171135 | 6:f164a716be46 | 96 | void AigamozuControlPackets::manualMode(){ |
m5171135 | 6:f164a716be46 | 97 | manualCount++; |
m5171135 | 6:f164a716be46 | 98 | if(manualCount > 10){ |
m5171135 | 6:f164a716be46 | 99 | _agzSheild.changeSpeed(0,0,0,0); |
m5171135 | 6:f164a716be46 | 100 | manualCount = 0; |
m5171135 | 6:f164a716be46 | 101 | } |
m5171135 | 6:f164a716be46 | 102 | } |
m5171135 | 6:f164a716be46 | 103 | |
m5171135 | 6:f164a716be46 | 104 | |
m5171135 | 5:3f51eeb5aedc | 105 | void AigamozuControlPackets::randomAuto(){ |
m5171135 | 2:3f2d4f53ceed | 106 | |
m5171135 | 5:3f51eeb5aedc | 107 | randomCount++; |
m5171135 | 5:3f51eeb5aedc | 108 | |
m5171135 | 5:3f51eeb5aedc | 109 | if(randomCount < 10) _agzSheild.changeSpeed(1,128,1,128); |
m5171135 | 5:3f51eeb5aedc | 110 | else if(randomCount < 11) _agzSheild.changeSpeed(2,128,2,128); |
m5171135 | 5:3f51eeb5aedc | 111 | else randomCount = 0; |
m5171135 | 5:3f51eeb5aedc | 112 | |
m5171135 | 5:3f51eeb5aedc | 113 | } |
m5171135 | 6:f164a716be46 | 114 | |
m5171135 | 6:f164a716be46 | 115 | void AigamozuControlPackets::gpsAuto(){ |
m5171135 | 5:3f51eeb5aedc | 116 | |
kityann | 10:e77c664ee5e2 | 117 | /* |
kityann | 10:e77c664ee5e2 | 118 | _agzSheild.changeSpeed(2,128,2,128):for moving robot |
kityann | 10:e77c664ee5e2 | 119 | */ |
kityann | 10:e77c664ee5e2 | 120 | |
kityann | 10:e77c664ee5e2 | 121 | Timer Automove_Timer; |
kityann | 10:e77c664ee5e2 | 122 | |
kityann | 10:e77c664ee5e2 | 123 | bool out_flag = true; |
kityann | 10:e77c664ee5e2 | 124 | static bool out_count_flag = false; |
kityann | 10:e77c664ee5e2 | 125 | |
m5171135 | 7:200ce5c1f486 | 126 | printf("Check Start\n"); |
m5171135 | 7:200ce5c1f486 | 127 | printf("%f %f\n",agzPoint.x,agzPoint.y); |
kityann | 10:e77c664ee5e2 | 128 | if(AigamozuControlPackets::checkGpsHit(basePoint[0],basePoint[1],basePoint[2],agzPoint)){ |
kityann | 10:e77c664ee5e2 | 129 | printf("InArea\n"); |
kityann | 10:e77c664ee5e2 | 130 | out_flag = false; |
kityann | 10:e77c664ee5e2 | 131 | out_count_flag = false; |
kityann | 10:e77c664ee5e2 | 132 | }else if(AigamozuControlPackets::checkGpsHit(basePoint[0],basePoint[2],basePoint[3],agzPoint)){ |
kityann | 10:e77c664ee5e2 | 133 | printf("InArea\n"); |
kityann | 10:e77c664ee5e2 | 134 | out_flag = false; |
kityann | 10:e77c664ee5e2 | 135 | out_count_flag = false; |
kityann | 10:e77c664ee5e2 | 136 | }else{//if robot is out |
kityann | 10:e77c664ee5e2 | 137 | printf("OutArea\n"); |
kityann | 10:e77c664ee5e2 | 138 | out_flag = true; |
m5171135 | 7:200ce5c1f486 | 139 | } |
m5171135 | 7:200ce5c1f486 | 140 | |
kityann | 10:e77c664ee5e2 | 141 | //if robot is out: |
kityann | 10:e77c664ee5e2 | 142 | if(out_flag == true || out_count_flag == false){ |
kityann | 10:e77c664ee5e2 | 143 | Automove_Timer.reset(); |
kityann | 10:e77c664ee5e2 | 144 | out_count_flag = true; |
kityann | 10:e77c664ee5e2 | 145 | } |
kityann | 10:e77c664ee5e2 | 146 | if(out_flag){ |
kityann | 10:e77c664ee5e2 | 147 | if(Automove_Timer.read_ms() < 1000){ |
kityann | 10:e77c664ee5e2 | 148 | _agzSheild.changeSpeed(1,64,2,64);//turn |
kityann | 10:e77c664ee5e2 | 149 | }else if(Automove_Timer.read_ms() < 5000){ |
kityann | 10:e77c664ee5e2 | 150 | _agzSheild.changeSpeed(1,64,1,64);//straight |
kityann | 10:e77c664ee5e2 | 151 | }else if(Automove_Timer.read_ms() >= 5000){ |
kityann | 10:e77c664ee5e2 | 152 | out_count_flag=false; |
kityann | 10:e77c664ee5e2 | 153 | } |
kityann | 10:e77c664ee5e2 | 154 | }else{ |
kityann | 10:e77c664ee5e2 | 155 | //if robot is inner |
kityann | 10:e77c664ee5e2 | 156 | _agzSheild.changeSpeed(1,64,1,64);//straight |
kityann | 10:e77c664ee5e2 | 157 | } |
kityann | 10:e77c664ee5e2 | 158 | |
kityann | 10:e77c664ee5e2 | 159 | } |
kityann | 10:e77c664ee5e2 | 160 | |
m5171135 | 7:200ce5c1f486 | 161 | |
m5171135 | 7:200ce5c1f486 | 162 | |
m5171135 | 7:200ce5c1f486 | 163 | |
m5171135 | 7:200ce5c1f486 | 164 | |
m5171135 | 7:200ce5c1f486 | 165 | |
m5171135 | 7:200ce5c1f486 | 166 | //Update Robot Point |
m5171135 | 7:200ce5c1f486 | 167 | void AigamozuControlPackets::reNewPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){ |
m5171135 | 7:200ce5c1f486 | 168 | agzPoint.x = (double)latitudeH + (double)(latitudeL / 10000.0); |
m5171135 | 7:200ce5c1f486 | 169 | agzPoint.y = (double)longitudeH +(double)(longitudeL / 10000.0); |
m5171135 | 7:200ce5c1f486 | 170 | |
m5171135 | 7:200ce5c1f486 | 171 | } |
m5171135 | 7:200ce5c1f486 | 172 | |
m5171135 | 7:200ce5c1f486 | 173 | |
m5171135 | 7:200ce5c1f486 | 174 | //Check Hit Point Area |
m5171135 | 7:200ce5c1f486 | 175 | bool AigamozuControlPackets::checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P){ |
m5171135 | 7:200ce5c1f486 | 176 | vector2D AB = AigamozuControlPackets::sub_vector(B, A); |
m5171135 | 7:200ce5c1f486 | 177 | vector2D BP = AigamozuControlPackets::sub_vector(P, B); |
m5171135 | 7:200ce5c1f486 | 178 | |
m5171135 | 7:200ce5c1f486 | 179 | vector2D BC = AigamozuControlPackets::sub_vector(C, B); |
m5171135 | 7:200ce5c1f486 | 180 | vector2D CP = AigamozuControlPackets::sub_vector(P, C); |
m5171135 | 7:200ce5c1f486 | 181 | |
m5171135 | 7:200ce5c1f486 | 182 | vector2D CA = AigamozuControlPackets::sub_vector(A, C); |
m5171135 | 7:200ce5c1f486 | 183 | vector2D AP = AigamozuControlPackets::sub_vector(P, A); |
m5171135 | 7:200ce5c1f486 | 184 | |
m5171135 | 7:200ce5c1f486 | 185 | double c1 = AB.x * BP.y - AB.y * BP.x; |
m5171135 | 7:200ce5c1f486 | 186 | double c2 = BC.x * CP.y - BC.y * CP.x; |
m5171135 | 7:200ce5c1f486 | 187 | double c3 = CA.x * AP.y - CA.y * AP.x; |
m5171135 | 7:200ce5c1f486 | 188 | |
m5171135 | 7:200ce5c1f486 | 189 | if( ( c1 > 0 && c2 > 0 && c3 > 0 ) || ( c1 < 0 && c2 < 0 && c3 < 0 ) ) { |
m5171135 | 7:200ce5c1f486 | 190 | return true; |
m5171135 | 5:3f51eeb5aedc | 191 | } |
m5171135 | 6:f164a716be46 | 192 | |
m5171135 | 7:200ce5c1f486 | 193 | return false; |
m5171135 | 7:200ce5c1f486 | 194 | |
m5171135 | 7:200ce5c1f486 | 195 | } |
m5171135 | 7:200ce5c1f486 | 196 | |
m5171135 | 7:200ce5c1f486 | 197 | vector2D AigamozuControlPackets::sub_vector( const vector2D& a, const vector2D& b ) |
m5171135 | 7:200ce5c1f486 | 198 | { |
m5171135 | 7:200ce5c1f486 | 199 | vector2D ret; |
m5171135 | 7:200ce5c1f486 | 200 | ret.x = a.x - b.x; |
m5171135 | 7:200ce5c1f486 | 201 | ret.y = a.y - b.y; |
m5171135 | 7:200ce5c1f486 | 202 | return ret; |
m5171135 | 7:200ce5c1f486 | 203 | } |
m5171135 | 7:200ce5c1f486 | 204 | |
m5171135 | 7:200ce5c1f486 | 205 | |
m5171135 | 7:200ce5c1f486 | 206 | |
m5171135 | 5:3f51eeb5aedc | 207 | |
m5171135 | 6:f164a716be46 | 208 | ////////////////////////////// |
m5171135 | 6:f164a716be46 | 209 | // Mode change // |
m5171135 | 6:f164a716be46 | 210 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 211 | bool AigamozuControlPackets::changeMode(uint8_t *buf){ |
m5171135 | 2:3f2d4f53ceed | 212 | |
m5171135 | 6:f164a716be46 | 213 | //reset |
m5171135 | 5:3f51eeb5aedc | 214 | _agzSheild.changeSpeed(0,0,0,0); |
m5171135 | 6:f164a716be46 | 215 | eachModeInt.detach(); |
m5171135 | 5:3f51eeb5aedc | 216 | |
m5171135 | 6:f164a716be46 | 217 | //Select Mode |
m5171135 | 2:3f2d4f53ceed | 218 | switch(buf[19]){ |
m5171135 | 2:3f2d4f53ceed | 219 | case 0: |
m5171135 | 2:3f2d4f53ceed | 220 | nowMode = STANDBY_MODE; |
m5171135 | 2:3f2d4f53ceed | 221 | break; |
m5171135 | 2:3f2d4f53ceed | 222 | |
m5171135 | 2:3f2d4f53ceed | 223 | case 1: |
m5171135 | 6:f164a716be46 | 224 | eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0); |
m5171135 | 2:3f2d4f53ceed | 225 | nowMode = MANUAL_MODE; |
m5171135 | 2:3f2d4f53ceed | 226 | break; |
m5171135 | 2:3f2d4f53ceed | 227 | |
m5171135 | 2:3f2d4f53ceed | 228 | case 2: |
m5171135 | 2:3f2d4f53ceed | 229 | nowMode = AUTO_MODE; |
m5171135 | 6:f164a716be46 | 230 | eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0); |
m5171135 | 2:3f2d4f53ceed | 231 | break; |
m5171135 | 4:04dadf67ecb6 | 232 | |
m5171135 | 4:04dadf67ecb6 | 233 | case 3: |
kityann | 10:e77c664ee5e2 | 234 | eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,0.2); |
m5171135 | 4:04dadf67ecb6 | 235 | nowMode = AUTO_GPS_MODE; |
m5171135 | 4:04dadf67ecb6 | 236 | break; |
m5171135 | 4:04dadf67ecb6 | 237 | |
m5171135 | 6:f164a716be46 | 238 | default: |
m5171135 | 6:f164a716be46 | 239 | nowMode = STANDBY_MODE; |
m5171135 | 6:f164a716be46 | 240 | break; |
m5171135 | 5:3f51eeb5aedc | 241 | |
m5171135 | 2:3f2d4f53ceed | 242 | } |
m5171135 | 2:3f2d4f53ceed | 243 | return false; |
m5171135 | 2:3f2d4f53ceed | 244 | } |
m5171135 | 5:3f51eeb5aedc | 245 | |
m5171135 | 5:3f51eeb5aedc | 246 | |
m5171135 | 2:3f2d4f53ceed | 247 |