展示会用に簡単にしています
Dependencies: ADXL345 AigamozuControlPackets_展示会 HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed
Fork of Aigamozu_Robot_March by
Diff: main.cpp
- Revision:
- 44:02873ac29052
- Parent:
- 43:a05f2571151f
--- a/main.cpp Fri Mar 17 09:07:45 2017 +0000 +++ b/main.cpp Fri Mar 17 10:12:27 2017 +0000 @@ -31,8 +31,8 @@ #include "setting.h" //************ID Number***************** -const char MyID = 'b'; -const char SenderIDc = 'e'; +const char MyID = 'e'; +const char SenderIDc = 'J'; //************ID Number***************** ///////////////////////////////////////// @@ -129,17 +129,7 @@ //send normal data //Create GPS Infomation Packet agz.SendDataCommand(MyID,SenderIDc,(int16_t)set.agzGyr.x,(int16_t)set.agzGyr.y, (int16_t)set.agzGyr.z, (int16_t)set.agzAcc.x,(int16_t)set.agzAcc.y,(int16_t)set.agzAcc.z, (uint8_t)flag); - - /* //debug*************************************************** - printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n", - agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), - agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), - agz.get_agzCov_lati(),agz.get_agzCov_longi() - ); - for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]); - printf("\n"); - //debug end*************************************************** - */ + //debug printf("%d %d %d %d %d %d\n\r",(int16_t)set.agzGyr.x,(int16_t)set.agzGyr.y, (int16_t)set.agzGyr.z, (int16_t)set.agzAcc.x, (int16_t)set.agzAcc.y, (int16_t)set.agzAcc.z); for(int i = 0; i < 24; i++){ @@ -160,6 +150,28 @@ } +void Send_Mannual(char c){ + + XBeeAddress64 send_Address; + if(SenderIDc == '0'){ + send_Address = manager_Address; + } + if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ + send_Address = robot_Address[SenderIDc - 'A']; + } + if(SenderIDc >= 'a' && SenderIDc <= 'z'){ + send_Address = base_Address[SenderIDc - 'a']; + } + //send normal data + //Create GPS Infomation Packet + agz.CreateManualCommand(MyID,SenderIDc,c); + //Select Destination + ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength()); + //Send -> Base + xbee.send(tx64request); +} + + ///////////////////////////////////////// // @@ -317,7 +329,14 @@ //200msごとにstatus送信 if(auto_Timer.read_ms() >= auto_Time){ - auto_Timer.reset(); + + char c; + auto_Timer.reset(); + if(pc.readable()) { + c = pc.getc(); + Send_Mannual(c); + pc.printf("send mannual command\n\r"); + } //Send_Status(); }