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;
             }