Revision 0:54e62ef6d287, committed 2014-06-18

Comitter:

kityann

Date:

Wed Jun 18 13:48:18 2014 +0000

Child:

1:9339d5b59c6d

Child:

2:d9068d64649d

Child:

3:14e469b0c33e

Commit message:

aigamo get data;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/agz_common.cpp	Wed Jun 18 13:48:18 2014 +0000
@@ -0,0 +1,78 @@
+#include "agz_common.h"
+#include "XBee.h"
+
+
+
+/*XBee Address List
+* this is xbee addresses. 
+* AGZ_ROBOT Address is Agz_XBee_Remote_Address[AGZ_FROM_ROBOT] ~ Agz_XBee_Remote_Address[AGZ_TO_ROBOT] 
+* Base and JOY-STICK is same.
+*/
+
+XBeeAddress64 Agz_XBee_Remote_Address[AGZ_NUM_ROBOTS] = {XBeeAddress64(0x0013A200, 0x409EAEF3)//R1
+                                                        ,XBeeAddress64(0x0013A200, 0x40993719)//R2
+                                                        ,XBeeAddress64(0x0013A200, 0x409EAEEB)//R3
+                                                        ,XBeeAddress64(0x0013A200, 0x409EAF0E)};//R4
+                                                        /*
+                                                        {XBeeAddress64(0x0013A200, 0x409EAF01)
+                                                        ,XBeeAddress64(0x0013A200, 0x409EAF01)
+                                                        ,XBeeAddress64(0x0013A200, 0x409EAF01)
+                                                        ,XBeeAddress64(0x0013A200, 0x409EAF01)};
+*/
+
+
+/*----------------------------------------------
+ member function of "AGZ_ROBOT"
+------------------------------------------------*/
+//set function
+AGZ_ROBOT::AGZ_ROBOT(){
+    state = 0xFF;
+}
+
+void AGZ_ROBOT::set_state(uint8_t s){
+    state = s;
+}
+
+void AGZ_ROBOT::set_LatitudeH(uint8_t *data){
+    for(int i = 0;i < 3;i++)
+        LatitudeH.value_ch[i] = data[i];
+}
+
+void AGZ_ROBOT::set_LatitudeL(uint8_t *data){
+    for(int i = 0;i < 6;i++)
+        LatitudeL.value_ch[i] = data[i];
+}
+
+void AGZ_ROBOT::set_LongitudeH(uint8_t *data){
+    for(int i = 0;i < 3;i++)
+        LongitudeH.value_ch[i] = data[i];
+}
+
+void AGZ_ROBOT::set_LongitudeL(uint8_t *data){
+    for(int i = 0;i < 6;i++)
+        LongitudeL.value_ch[i] = data[i];
+}
+
+
+
+
+
+//get function
+long AGZ_ROBOT::get_LatitudeH(){
+    return LatitudeH.value_long;
+}
+
+long AGZ_ROBOT::get_LatitudeL(){
+    return LatitudeL.value_long;
+}
+
+long AGZ_ROBOT::get_LongitudeH(){
+    return LongitudeH.value_long;
+}
+
+long AGZ_ROBOT::get_LongitudeL(){
+    return LongitudeL.value_long;
+}
+uint8_t AGZ_ROBOT::get_state(){
+    return state;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/agz_common.h	Wed Jun 18 13:48:18 2014 +0000
@@ -0,0 +1,77 @@
+//define common data
+
+#ifndef AGZ_COMMON
+#define AGZ_COMMON
+
+#include "XBee.h"
+#include "mbed.h"
+
+//device num with XBee
+#define AGZ_NUM_NODES   56
+
+//about robot
+#define AGZ_NUM_ROBOTS  4//40
+#define AGZ_FROM_ROBOT  0
+#define AGZ_TO_ROBOT    39
+
+//about base
+#define AGZ_FROM_BASE   40
+#define AGZ_TO_BASE     47
+#define AGZ_BASE_A_FROM_ROBOT_ID    0
+#define AGZ_BASE_A_TO_ROBOT_ID      7
+#define AGZ_BASE_B_FROM_ROBOT_ID    8  
+#define AGZ_BASE_B_TO_ROBOT_ID      15
+#define AGZ_BASE_C_FROM_ROBOT_ID    16
+#define AGZ_BASE_C_TO_ROBOT_ID      23 
+
+//about joy-stick
+#define AGZ_FROM_JOY    48
+#define AGZ_TO_JOY    55
+
+/*----------------------------------------------------------
+    data of Xbee
+-----------------------------------------------------------*/
+//Addres List 
+extern XBeeAddress64 Agz_XBee_Remote_Address[AGZ_NUM_ROBOTS];
+
+
+
+/*----------------------------------------------------------
+    data of ROBOT
+-----------------------------------------------------------*/
+union AGZ_UNION_INT8_LONG{
+    uint8_t value_ch[4];
+    long    value_long;   
+};
+
+class AGZ_ROBOT{
+private:
+    uint8_t state;
+    AGZ_UNION_INT8_LONG LatitudeH,LatitudeL, LongitudeH,LongitudeL;  
+public:
+    AGZ_ROBOT();
+    void set_state(uint8_t);
+    void set_LatitudeH(uint8_t*);    
+    void set_LatitudeL(uint8_t*);    
+    void set_LongitudeH(uint8_t*);    
+    void set_LongitudeL(uint8_t*);    
+    uint8_t get_state();
+    long get_LatitudeH();    
+    long get_LatitudeL();    
+    long get_LongitudeH();    
+    long get_LongitudeL();    
+};
+
+/*----------------------------------------------------------
+    data of BASE
+-----------------------------------------------------------*/
+
+
+/*----------------------------------------------------------
+    data of JOY-STICK
+-----------------------------------------------------------*/
+
+
+
+
+#endif
\ No newline at end of file