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;