tarou yamada
XBee.h@3:115488d3ca1a, 2015-11-13 (annotated)
- Committer:
- inst
- Date:
- Fri Nov 13 08:15:58 2015 +0000
- Revision:
- 3:115488d3ca1a
- Parent:
- 2:869012d317b5
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inst | 0:7e177131730d | 1 | #ifndef INCLUDED_XBEE_H |
| inst | 0:7e177131730d | 2 | #define INCLUDED_XBEE_H |
| inst | 0:7e177131730d | 3 | |
| inst | 0:7e177131730d | 4 | #include "mbed.h" |
| inst | 0:7e177131730d | 5 | #include "I2CDevice.h" |
| inst | 1:7f0b90daef14 | 6 | #include "Command.h" |
| inst | 2:869012d317b5 | 7 | #include "Steering.h" |
| inst | 0:7e177131730d | 8 | |
| inst | 0:7e177131730d | 9 | class XBee : public I2CDevice{ |
| inst | 0:7e177131730d | 10 | public: |
| inst | 1:7f0b90daef14 | 11 | XBee( char address ); |
| inst | 0:7e177131730d | 12 | |
| inst | 2:869012d317b5 | 13 | virtual int read(); |
| inst | 2:869012d317b5 | 14 | |
| inst | 2:869012d317b5 | 15 | static void setAngleAdjust_deg( float angle_deg ){ |
| inst | 2:869012d317b5 | 16 | mAngleAdjust_deg = angle_deg; |
| inst | 2:869012d317b5 | 17 | } |
| inst | 2:869012d317b5 | 18 | static void setMoveDirection_rad( float direction_rad ){ |
| inst | 2:869012d317b5 | 19 | mMoveDirection_rad = direction_rad; |
| inst | 2:869012d317b5 | 20 | } |
| inst | 2:869012d317b5 | 21 | |
| inst | 2:869012d317b5 | 22 | Command createCommand(); |
| inst | 0:7e177131730d | 23 | |
| inst | 2:869012d317b5 | 24 | enum AngleAdjustType{ |
| inst | 2:869012d317b5 | 25 | NO_OPERATION, |
| inst | 2:869012d317b5 | 26 | INCREMENT, |
| inst | 2:869012d317b5 | 27 | DECREMENT |
| inst | 2:869012d317b5 | 28 | }; |
| inst | 2:869012d317b5 | 29 | |
| inst | 2:869012d317b5 | 30 | enum SpeedType{ |
| inst | 2:869012d317b5 | 31 | LOW_SPEED = 0x03, |
| inst | 2:869012d317b5 | 32 | HIGH_SPEED = 0x04 |
| inst | 2:869012d317b5 | 33 | }; |
| inst | 2:869012d317b5 | 34 | |
| inst | 2:869012d317b5 | 35 | enum RollDirection{ |
| inst | 2:869012d317b5 | 36 | CONTERCLOCKWISE = 0x00, |
| inst | 2:869012d317b5 | 37 | CLOCKWISE = 0x01 |
| inst | 2:869012d317b5 | 38 | }; |
| inst | 2:869012d317b5 | 39 | |
| inst | 2:869012d317b5 | 40 | static const float mAngleAdjustTable[]; |
| inst | 0:7e177131730d | 41 | |
| inst | 0:7e177131730d | 42 | private: |
| inst | 1:7f0b90daef14 | 43 | static const size_t mNumOfDivDirection; |
| inst | 1:7f0b90daef14 | 44 | static const float mDutyTable[]; |
| inst | 1:7f0b90daef14 | 45 | static const float mRollCoeffTable[]; |
| inst | 2:869012d317b5 | 46 | static float mAngleAdjust_deg; |
| inst | 2:869012d317b5 | 47 | static float mMoveDirection_rad; |
| inst | 1:7f0b90daef14 | 48 | |
| inst | 1:7f0b90daef14 | 49 | float mMoveDuty; |
| inst | 1:7f0b90daef14 | 50 | float mRollCoeff; |
| inst | 2:869012d317b5 | 51 | ShootingSystem::AimState mAimState; |
| inst | 2:869012d317b5 | 52 | Steering::ActionType mSteeringActionType; |
| inst | 2:869012d317b5 | 53 | SpeedType mSpeedMode; |
| inst | 2:869012d317b5 | 54 | bool mIsShooting; |
| inst | 2:869012d317b5 | 55 | bool mIsSupplying; |
| inst | 2:869012d317b5 | 56 | bool mIsNotStop; |
| inst | 2:869012d317b5 | 57 | AngleAdjustType mPrevAngleAdjustType; |
| inst | 0:7e177131730d | 58 | }; |
| inst | 0:7e177131730d | 59 | |
| inst | 0:7e177131730d | 60 | #endif |