Diff: main.cpp

Revision:

5:940424ec98a8

Parent:

4:39d2aadf3068

Child:

6:21e2792e66c7

--- a/main.cpp	Wed Jun 04 09:12:29 2014 +0000
+++ b/main.cpp	Sun Jun 08 11:55:07 2014 +0000
@@ -4,8 +4,8 @@
 //
 //  Program name: Aigamozu Robot Control
 //  author: Atsunori Maruyama
-//  ver ->  1.0
-//
+//  ver ->  1.1
+//  day ->  2014/06/01
 //  
 //
 /**********************************************/
@@ -43,7 +43,7 @@
 
 //Motor Contorol Pin Setting
 VNH5019 motorShield(p21,p22,p23,p24,p25,p26);
-AigamozuControlPackets agz;
+
 
 //Interrupt Setting
 Ticker axis;
@@ -92,26 +92,32 @@
 //
 /////////////////////////////////////////
  
- void randomRenovation(){
+ 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(){
+    
+        
+            
+
     }   
 
 
 
+
+
 /////////////////////////////////////////
 //
 //Main Processing
@@ -137,11 +143,11 @@
     myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
     myGPS.sendCommand(PGCMD_ANTENNA);
     
-    //gyro_registor Setting
     wait(2);
        
     //interrupt start
     axis.attach(&axisRenovation, 0.1);
+    AigamozuControlPackets agz(axis);
     refresh_Timer.start();
     
     
@@ -152,17 +158,26 @@
             if (xbee.getResponse().isAvailable()) {
                 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
                 xbee.getResponse().getZBRxResponse(zbRx);
-                unsigned char *buf = zbRx.getFrameData(); 
+                uint8_t *buf = zbRx.getFrameData(); 
                  
                  
                  //Check Command Type 
                  switch(agz.checkCommnadType(buf)){
                     //CommandType -> ChanegeMode
                     case CHANGE_MODE :{
-                        my_mode = buf[19];
+                        //Change Mode
+                        agz.changeMode(buf);
+                        //Motor Stop 
                         motorShield.changeSpeed(0,0,0,0);
-                        if(my_mode == 2)  auth_axis.attach(&randomRenovation, 1.0);
+                        //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
+                        
+                            
+                                        
                         break;
                         }
 
@@ -180,13 +195,12 @@
                     //CommandType -> Send Status
                     case STATUS_REQUEST:{
                             //Create GPS Infomation Packet
-                            uint8_t* data = agz.createStatusPacket(myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL,'B','a');
+                            agz.createReceiveStatusCommand('B','a',myGPS.longitudeH,myGPS.longitudeL,myGPS.latitudeH,myGPS.latitudeL);
                             //Select Destination
-                            ZBTxRequest tx64request(remoteAddress,data,RECEIVES_GPS_STATUS_LENGTH);
+                            ZBTxRequest tx64request(remoteAddress,agz.packetData,agz.getPacketLength());
+                            
                             //Send -> Base
                             xbee.send(tx64request);
-                            //Buffer Release
-                            delete data;
                             break;         
           
                         }