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:
- 4:39d2aadf3068
- Parent:
- 3:1229ca3df855
- Child:
- 5:940424ec98a8
--- a/main.cpp Fri May 30 15:36:33 2014 +0000 +++ b/main.cpp Wed Jun 04 09:12:29 2014 +0000 @@ -5,24 +5,25 @@ // Program name: Aigamozu Robot Control // author: Atsunori Maruyama // ver -> 1.0 -// day -> 2014/05/21 // // // /**********************************************/ + #include "mbed.h" #include "XBee.h" #include "MBed_Adafruit_GPS.h" +#include "AigamozuControlPackets.h" #include "VNH5019.h" #include "agzIDLIST.h" #include "aigamozuSetting.h" -#include "AigamozuControlPackets.h" ///////////////////////////////////////// // //Connection Setting // ///////////////////////////////////////// + //Serial Connect Setting: PC <--> mbed Serial pc(USBTX, USBRX); @@ -39,11 +40,11 @@ //Pin Setting // ///////////////////////////////////////// + //Motor Contorol Pin Setting VNH5019 motorShield(p21,p22,p23,p24,p25,p26); AigamozuControlPackets agz; - //Interrupt Setting Ticker axis; Ticker auth_axis; @@ -109,6 +110,8 @@ count++; } + + ///////////////////////////////////////// // //Main Processing @@ -140,10 +143,11 @@ //interrupt start axis.attach(&axisRenovation, 0.1); refresh_Timer.start(); - + + while (true) { - //recive xbee module + //Check Xbee Buffer Available xbee.readPacket(); if (xbee.getResponse().isAvailable()) { if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { @@ -151,39 +155,42 @@ unsigned char *buf = zbRx.getFrameData(); - //Analyze the command type + //Check Command Type switch(agz.checkCommnadType(buf)){ - - //CommnadType -> ChangeModeCommand;;; - case CHANGE_MODE:{ + //CommandType -> ChanegeMode + case CHANGE_MODE :{ my_mode = buf[19]; motorShield.changeSpeed(0,0,0,0); if(my_mode == 2) auth_axis.attach(&randomRenovation, 1.0); else auth_axis.detach(); break; } - - //CommnadType -> ManualCommand;;; + + //CommandType -> Manual case MANUAL:{ - /// @todo Magic. - if(my_mode == 1){ - manual_count = 0; - motorShield.changeSpeed(buf[20],buf[21],buf[23],buf[24]); + //Check now Mode + if(agz.nowMode == MANUAL_MODE){ + //manual_count = 0; + //Change Motor Behavior + motorShield.changeSpeed(buf[20],buf[21],buf[23],buf[24]); } break; } - //SendStatus + //CommandType -> Send Status case STATUS_REQUEST:{ - //Create packet - uint8_t* data = agz.createStatusPacket(myGPS.latitudeH, myGPS.latitudeL, myGPS.longitudeH, myGPS.longitudeL,1,2); - ZBTxRequest tx64request(remoteAddress,data,sizeof(data)); - //Send GPS ingomation + //Create GPS Infomation Packet + uint8_t* data = agz.createStatusPacket(myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL,'B','a'); + //Select Destination + ZBTxRequest tx64request(remoteAddress,data,RECEIVES_GPS_STATUS_LENGTH); + //Send -> Base xbee.send(tx64request); - break; + //Buffer Release + delete data; + break; + } - - //Default + default: { break; @@ -191,7 +198,6 @@ } } } - myGPS.read(); //recive gps module @@ -204,8 +210,8 @@ if (refresh_Timer.read_ms() >= refresh_Time) { refresh_Timer.reset(); - if (myGPS.fix) my_status = 0; - else my_status = 1; + if (myGPS.fix) agz.nowStatus = GPS_AVAIL; + else agz.nowStatus = GPS_UNAVAIL; } } } \ No newline at end of file