yokokawa
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed
Fork of aigamozu_program_ver2 by
Diff: main.cpp
- Revision:
- 6:21e2792e66c7
- Parent:
- 5:940424ec98a8
- Child:
- 7:bfc65eac624e
--- a/main.cpp Sun Jun 08 11:55:07 2014 +0000 +++ b/main.cpp Sun Jun 08 15:09:17 2014 +0000 @@ -14,7 +14,6 @@ #include "XBee.h" #include "MBed_Adafruit_GPS.h" #include "AigamozuControlPackets.h" -#include "VNH5019.h" #include "agzIDLIST.h" #include "aigamozuSetting.h" @@ -40,14 +39,8 @@ //Pin Setting // ///////////////////////////////////////// - -//Motor Contorol Pin Setting -VNH5019 motorShield(p21,p22,p23,p24,p25,p26); - - -//Interrupt Setting -Ticker axis; -Ticker auth_axis; +Ticker hogehoge; +VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); ///////////////////////////////////////// // @@ -72,51 +65,6 @@ int manual_count = 0; int manual_flag = 0; -///////////////////////////////////////// -// -//Interruption processing 1: time -> 0.1s -// -///////////////////////////////////////// -void axisRenovation(){ - - if(manual_count > 100){ - motorShield.changeSpeed(0,0,0,0); - manual_count = 0; - } - if(my_mode == 1) manual_count++; - } - -///////////////////////////////////////// -// -//Interruption processing: time -> 1.0s -// -///////////////////////////////////////// - - void normalRandomMode(){ - - if(count < 20){ - motorShield.changeSpeed(1,127,1,127); - } - else{ - motorShield.changeSpeed(1,64,2,64); - if(count > 21) { - count = 0; - motorShield.changeSpeed(1,127,1,127); - } - } - count++; - } - -void gpsRandomMode(){ - - - - - } - - - - ///////////////////////////////////////// // @@ -146,8 +94,7 @@ wait(2); //interrupt start - axis.attach(&axisRenovation, 0.1); - AigamozuControlPackets agz(axis); + AigamozuControlPackets agz(agz_motorShield); refresh_Timer.start(); @@ -165,19 +112,7 @@ switch(agz.checkCommnadType(buf)){ //CommandType -> ChanegeMode case CHANGE_MODE :{ - //Change Mode - agz.changeMode(buf); - //Motor Stop - motorShield.changeSpeed(0,0,0,0); - //case: AUTO1 - if(agz.nowMode == AUTO_MODE) auth_axis.attach(&normalRandomMode, 1.0); - else if(agz.nowMode ==AUTO_GPS_MODE) auth_axis.attach(&gpsRandomMode, 1.0); - else auth_axis.detach(); - - //case:AUTO2 - - - + agz.changeMode(buf); break; } @@ -185,9 +120,7 @@ case MANUAL:{ //Check now Mode if(agz.nowMode == MANUAL_MODE){ - //manual_count = 0; - //Change Motor Behavior - motorShield.changeSpeed(buf[20],buf[21],buf[23],buf[24]); + agz.changeSpeed(buf); } break; } @@ -198,7 +131,6 @@ agz.createReceiveStatusCommand('B','a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL); //Select Destination ZBTxRequest tx64request(remoteAddress,agz.packetData,agz.getPacketLength()); - //Send -> Base xbee.send(tx64request); break;