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Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed agz_common
main.cpp
- Committer:
- kityann
- Date:
- 2015-04-11
- Revision:
- 0:d8f3aa3b6876
- Child:
- 1:a5f98c7e1feb
File content as of revision 0:d8f3aa3b6876:
/**********************************************/ // // // // Program name: Aigamozu Robot Control // Author: Atsunori Maruyama // Ver -> 1.3 // Day -> 2014/06/09 // // /**********************************************/ #include "mbed.h" #include "XBee.h" #include "MBed_Adafruit_GPS.h" #include "AigamozuControlPackets.h" #include "agzIDLIST.h" #include "aigamozuSetting.h" ///////////////////////////////////////// // //Connection Setting // ///////////////////////////////////////// //Serial Connect Setting: PC <--> mbed Serial pc(USBTX, USBRX); //Serial Connect Setting: GPS <--> mbed Serial * gps_Serial; //Serial Connect Setting: XBEE <--> mbed XBee xbee(p13,p14); ZBRxResponse zbRx = ZBRxResponse(); XBeeAddress64 remoteAddress = XBeeAddress64(PAN1B1_32H,PAN1B1_32L); //Timer Timer t; int flag=0; ///////////////////////////////////////// // //Pin Setting // ///////////////////////////////////////// VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); ///////////////////////////////////////// // //Main Processing // ///////////////////////////////////////// int main() { int count = 0; //start up time wait(3); //set pc frequency to 57600bps pc.baud(PC_BAUD_RATE); //set xbee frequency to 57600bps xbee.begin(XBEE_BAUD_RATE); //GPS setting gps_Serial = new Serial(p28,p27); Adafruit_GPS myGPS(gps_Serial); Timer refresh_Timer; const int refresh_Time = 2000; //refresh time in ms myGPS.begin(GPS_BAUD_RATE); //GPS Send Command myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); myGPS.sendCommand(PGCMD_ANTENNA); wait(2); //interrupt start AigamozuControlPackets agz(agz_motorShield); refresh_Timer.start(); while (true) { //Check Xbee Buffer Available xbee.readPacket(); if (xbee.getResponse().isAvailable()) { if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { xbee.getResponse().getZBRxResponse(zbRx); uint8_t *buf = zbRx.getFrameData(); //Check Command Type switch(agz.checkCommnadType(buf)){ //CommandType -> ChanegeMode case CHANGE_MODE :{ agz.changeMode(buf); break; } //CommandType -> Manual case MANUAL:{ //Check now Mode if(agz.nowMode == MANUAL_MODE){ agz.changeSpeed(buf); } break; } //CommandType -> Send Status case STATUS_REQUEST:{ //Create GPS Infomation Packet agz.createReceiveStatusCommand(1,6,myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); //Select Destination ZBTxRequest tx64request(remoteAddress,agz.packetData,agz.getPacketLength()); //Send -> Base xbee.send(tx64request); break; } default: { break; } } } } myGPS.read(); //recive gps module //check if we recieved a new message from GPS, if so, attempt to parse it, if ( myGPS.newNMEAreceived() ) { if ( !myGPS.parse(myGPS.lastNMEA()) ) { continue; } } if (refresh_Timer.read_ms() >= refresh_Time) { refresh_Timer.reset(); if (myGPS.fix) { agz.nowStatus = GPS_AVAIL; agz.reNewPoint(myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); } else agz.nowStatus = GPS_UNAVAIL; } } }