agz_common.cpp

00001 #include "agz_common.h"
00002 #include "XBee.h"
00003 
00004 
00005 
00006 /*XBee Address List
00007 * this is xbee addresses. 
00008 * AGZ_ROBOT Address is Agz_XBee_Remote_Address[AGZ_FROM_ROBOT] ~ Agz_XBee_Remote_Address[AGZ_TO_ROBOT] 
00009 * Base and JOY-STICK is same.
00010 */
00011 
00012 XBeeAddress64 Agz_XBee_Remote_Address[AGZ_NUM_ROBOTS] = {XBeeAddress64(0x0013A200, 0x409EAEF3)//R1
00013                                                         ,XBeeAddress64(0x0013A200, 0x40993719)//R2
00014                                                         ,XBeeAddress64(0x0013A200, 0x409EAEEB)//R3
00015                                                         ,XBeeAddress64(0x0013A200, 0x409EAF0E)};//R4
00016                                                         /*
00017                                                         {XBeeAddress64(0x0013A200, 0x409EAF01)
00018                                                         ,XBeeAddress64(0x0013A200, 0x409EAF01)
00019                                                         ,XBeeAddress64(0x0013A200, 0x409EAF01)
00020                                                         ,XBeeAddress64(0x0013A200, 0x409EAF01)};
00021 */
00022 
00023 
00024 /*----------------------------------------------
00025  member function of "AGZ_ROBOT"
00026 ------------------------------------------------*/
00027 //set function
00028 AGZ_ROBOT::AGZ_ROBOT(){
00029     state = 0xFF;
00030 }
00031 
00032 void AGZ_ROBOT::set_state(uint8_t s){
00033     state = s;
00034 }
00035 
00036 void AGZ_ROBOT::set_LatitudeH(uint8_t *data){
00037     for(int i = 0;i < 3;i++)
00038         LatitudeH.value_ch[i] = data[i];
00039 }
00040 
00041 void AGZ_ROBOT::set_LatitudeL(uint8_t *data){
00042     for(int i = 0;i < 6;i++)
00043         LatitudeL.value_ch[i] = data[i];
00044 }
00045 
00046 void AGZ_ROBOT::set_LongitudeH(uint8_t *data){
00047     for(int i = 0;i < 3;i++)
00048         LongitudeH.value_ch[i] = data[i];
00049 }
00050 
00051 void AGZ_ROBOT::set_LongitudeL(uint8_t *data){
00052     for(int i = 0;i < 6;i++)
00053         LongitudeL.value_ch[i] = data[i];
00054 }
00055 
00056 
00057 //get function
00058 long AGZ_ROBOT::get_LatitudeH(){
00059     return LatitudeH.value_long;
00060 }
00061 
00062 long AGZ_ROBOT::get_LatitudeL(){
00063     return LatitudeL.value_long;
00064 }
00065 
00066 long AGZ_ROBOT::get_LongitudeH(){
00067     return LongitudeH.value_long;
00068 }
00069 
00070 long AGZ_ROBOT::get_LongitudeL(){
00071     return LongitudeL.value_long;
00072 }
00073 uint8_t AGZ_ROBOT::get_state(){
00074     return state;
00075 }
00076 
00077 
00078 void AGZ_ROBOT::set_LatitudeKH(uint8_t *data){
00079     for(int i = 0;i < 3;i++)
00080         LatitudeKH.value_ch[i] = data[i];
00081 }
00082 
00083 void AGZ_ROBOT::set_LatitudeKL(uint8_t *data){
00084     for(int i = 0;i < 6;i++)
00085         LatitudeKL.value_ch[i] = data[i];
00086 }
00087 
00088 void AGZ_ROBOT::set_LongitudeKH(uint8_t *data){
00089     for(int i = 0;i < 3;i++)
00090         LongitudeKH.value_ch[i] = data[i];
00091 }
00092 
00093 void AGZ_ROBOT::set_LongitudeKL(uint8_t *data){
00094     for(int i = 0;i < 6;i++)
00095         LongitudeKL.value_ch[i] = data[i];
00096 }
00097 
00098 
00099 //get function
00100 long AGZ_ROBOT::get_LatitudeKH(){
00101     return LatitudeKH.value_long;
00102 }
00103 
00104 long AGZ_ROBOT::get_LatitudeKL(){
00105     return LatitudeKL.value_long;
00106 }
00107 
00108 long AGZ_ROBOT::get_LongitudeKH(){
00109     return LongitudeKH.value_long;
00110 }
00111 
00112 long AGZ_ROBOT::get_LongitudeKL(){
00113     return LongitudeKL.value_long;
00114 }