aigamozu / agz_common

aigamo get data

Dependents:   agz_base_ver2 agz_base_ver2 get_GPS_data_ver1 aigamozu_program_ver2 ... more

agz_common.h@3:14e469b0c33e, 2015-04-20 (annotated)

Committer:
kityann
Date:
Mon Apr 20 10:36:59 2015 +0000
Revision:
3:14e469b0c33e
Parent:
0:54e62ef6d287 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kityann 0:54e62ef6d287 1 //define common data
kityann 0:54e62ef6d287 2
kityann 0:54e62ef6d287 3 #ifndef AGZ_COMMON
kityann 0:54e62ef6d287 4 #define AGZ_COMMON
kityann 0:54e62ef6d287 5
kityann 0:54e62ef6d287 6 #include "XBee.h"
kityann 0:54e62ef6d287 7 #include "mbed.h"
kityann 0:54e62ef6d287 8
kityann 0:54e62ef6d287 9 //device num with XBee
kityann 0:54e62ef6d287 10 #define AGZ_NUM_NODES 56
kityann 0:54e62ef6d287 11
kityann 0:54e62ef6d287 12 //about robot
kityann 0:54e62ef6d287 13 #define AGZ_NUM_ROBOTS 4//40
kityann 0:54e62ef6d287 14 #define AGZ_FROM_ROBOT 0
kityann 0:54e62ef6d287 15 #define AGZ_TO_ROBOT 39
kityann 0:54e62ef6d287 16
kityann 0:54e62ef6d287 17 //about base
kityann 0:54e62ef6d287 18 #define AGZ_FROM_BASE 40
kityann 0:54e62ef6d287 19 #define AGZ_TO_BASE 47
kityann 0:54e62ef6d287 20 #define AGZ_BASE_A_FROM_ROBOT_ID 0
kityann 0:54e62ef6d287 21 #define AGZ_BASE_A_TO_ROBOT_ID 7
kityann 0:54e62ef6d287 22 #define AGZ_BASE_B_FROM_ROBOT_ID 8
kityann 0:54e62ef6d287 23 #define AGZ_BASE_B_TO_ROBOT_ID 15
kityann 0:54e62ef6d287 24 #define AGZ_BASE_C_FROM_ROBOT_ID 16
kityann 0:54e62ef6d287 25 #define AGZ_BASE_C_TO_ROBOT_ID 23
kityann 0:54e62ef6d287 26
kityann 0:54e62ef6d287 27 //about joy-stick
kityann 0:54e62ef6d287 28 #define AGZ_FROM_JOY 48
kityann 0:54e62ef6d287 29 #define AGZ_TO_JOY 55
kityann 0:54e62ef6d287 30
kityann 0:54e62ef6d287 31 /*----------------------------------------------------------
kityann 0:54e62ef6d287 32 data of Xbee
kityann 0:54e62ef6d287 33 -----------------------------------------------------------*/
kityann 0:54e62ef6d287 34 //Addres List
kityann 0:54e62ef6d287 35 extern XBeeAddress64 Agz_XBee_Remote_Address[AGZ_NUM_ROBOTS];
kityann 0:54e62ef6d287 36
kityann 0:54e62ef6d287 37
kityann 0:54e62ef6d287 38
kityann 0:54e62ef6d287 39 /*----------------------------------------------------------
kityann 0:54e62ef6d287 40 data of ROBOT
kityann 0:54e62ef6d287 41 -----------------------------------------------------------*/
kityann 0:54e62ef6d287 42 union AGZ_UNION_INT8_LONG{
kityann 0:54e62ef6d287 43 uint8_t value_ch[4];
kityann 0:54e62ef6d287 44 long value_long;
kityann 0:54e62ef6d287 45 };
kityann 0:54e62ef6d287 46
kityann 0:54e62ef6d287 47 class AGZ_ROBOT{
kityann 0:54e62ef6d287 48 private:
kityann 0:54e62ef6d287 49 uint8_t state;
kityann 0:54e62ef6d287 50 AGZ_UNION_INT8_LONG LatitudeH,LatitudeL, LongitudeH,LongitudeL;
kityann 3:14e469b0c33e 51 AGZ_UNION_INT8_LONG LatitudeKH,LatitudeKL, LongitudeKH,LongitudeKL;
kityann 0:54e62ef6d287 52 public:
kityann 0:54e62ef6d287 53 AGZ_ROBOT();
kityann 0:54e62ef6d287 54 void set_state(uint8_t);
kityann 0:54e62ef6d287 55 void set_LatitudeH(uint8_t*);
kityann 0:54e62ef6d287 56 void set_LatitudeL(uint8_t*);
kityann 0:54e62ef6d287 57 void set_LongitudeH(uint8_t*);
kityann 0:54e62ef6d287 58 void set_LongitudeL(uint8_t*);
kityann 0:54e62ef6d287 59 uint8_t get_state();
kityann 0:54e62ef6d287 60 long get_LatitudeH();
kityann 0:54e62ef6d287 61 long get_LatitudeL();
kityann 0:54e62ef6d287 62 long get_LongitudeH();
kityann 0:54e62ef6d287 63 long get_LongitudeL();
kityann 3:14e469b0c33e 64 void set_LatitudeKH(uint8_t*);
kityann 3:14e469b0c33e 65 void set_LatitudeKL(uint8_t*);
kityann 3:14e469b0c33e 66 void set_LongitudeKH(uint8_t*);
kityann 3:14e469b0c33e 67 void set_LongitudeKL(uint8_t*);
kityann 3:14e469b0c33e 68 long get_LatitudeKH();
kityann 3:14e469b0c33e 69 long get_LatitudeKL();
kityann 3:14e469b0c33e 70 long get_LongitudeKH();
kityann 3:14e469b0c33e 71 long get_LongitudeKL();
kityann 0:54e62ef6d287 72 };
kityann 0:54e62ef6d287 73
kityann 0:54e62ef6d287 74 /*----------------------------------------------------------
kityann 0:54e62ef6d287 75 data of BASE
kityann 0:54e62ef6d287 76 -----------------------------------------------------------*/
kityann 0:54e62ef6d287 77
kityann 0:54e62ef6d287 78
kityann 0:54e62ef6d287 79 /*----------------------------------------------------------
kityann 0:54e62ef6d287 80 data of JOY-STICK
kityann 0:54e62ef6d287 81 -----------------------------------------------------------*/
kityann 0:54e62ef6d287 82
kityann 0:54e62ef6d287 83
kityann 0:54e62ef6d287 84
kityann 0:54e62ef6d287 85
kityann 0:54e62ef6d287 86 #endif