![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
robot
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed agz_common
Diff: main.cpp
- Revision:
- 11:187ff22b343f
- Parent:
- 10:4a6059c5c84c
--- a/main.cpp Thu Apr 09 11:18:07 2015 +0000 +++ b/main.cpp Fri Apr 10 12:59:22 2015 +0000 @@ -70,6 +70,7 @@ char collect_state = 'a'; XBeeAddress64 collect_Address[4] = {XBeeAddress64(BASE1_32H,BASE1_32L), XBeeAddress64(BASE2_32H,BASE2_32L), XBeeAddress64(BASE3_32H,BASE3_32L), XBeeAddress64(BASE4_32H,BASE4_32L)}; + XBeeAddress64 robot_Address = XBeeAddress64(ROBOT1_32H, ROBOT1_32L); int id; @@ -101,6 +102,8 @@ //Check Command Type switch(agz.checkCommnadType(buf)){ + printf("%c\n", buf[14]); + //CommandType -> ChanegeMode case CHANGE_MODE :{ agz.changeMode(buf); @@ -121,15 +124,17 @@ //Create GPS Infomation Packet agz.createReceiveStatusCommand('B','a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); //Select Destination - ZBTxRequest tx64request(remoteAddress,agz.packetData,agz.getPacketLength()); + ZBTxRequest tx64request(robot_Address,agz.packetData,agz.getPacketLength()); //Send -> Base xbee.send(tx64request); break; } - case REQUEST_COMMAND:{ + case RECEIVE_STATUS:{ + printf("ok\n"); + id = buf1[6] - 'A'; robot[id].set_state(buf1[9]); robot[id].set_LatitudeH(&buf1[13]); @@ -137,7 +142,8 @@ robot[id].set_LongitudeH(&buf1[21]); robot[id].set_LongitudeL(&buf1[25]); - printf("%ld, %ld, %ld, %ld\n", robot[id].get_LatitudeH(), robot[id].get_LatitudeL(), robot[id].get_LongitudeH(), robot[id].get_LongitudeL()); + printf("%d\n", id); + printf("%ld, %ld, %ld, %ld\n", robot[id].get_LatitudeH(), robot[id].get_LatitudeL(), robot[id].get_LongitudeH(), robot[id].get_LongitudeL()); break; } @@ -174,9 +180,8 @@ collect_Timer.reset(); printf("Send Request\n"); - - //Create GPS Infomation Packet - agz.createReceiveStatusCommand('B', collect_state,myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); + + agz.createRequestCommand('A', collect_state); //Select Destination ZBTxRequest tx64request(collect_Address[collect_flag],agz.packetData,agz.getPacketLength()); //Send -> Base @@ -186,6 +191,7 @@ collect_state++; if(collect_flag == 4){ + printf("%d %c\n", collect_flag, collect_state); collect_state = 'a'; collect_flag = 0; }