tarou yamada / XBee

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Dependents:   RobotBase

XBee.cpp@1:7f0b90daef14, 2015-08-21 (annotated)

Committer:
inst
Date:
Fri Aug 21 04:51:52 2015 +0000
Revision:
1:7f0b90daef14
Parent:
0:7e177131730d
Child:
2:869012d317b5
y evol

Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 0:7e177131730d 1 #include "mbed.h"
inst 0:7e177131730d 2 #include "I2CDevice.h"
inst 0:7e177131730d 3 #include "XBee.h"
inst 1:7f0b90daef14 4 #include "Math.h"
inst 1:7f0b90daef14 5 #include "Steering.h"
inst 1:7f0b90daef14 6 #include "Command.h"
inst 0:7e177131730d 7
inst 1:7f0b90daef14 8 const size_t XBee::mNumOfDivDirection = 8;
inst 1:7f0b90daef14 9 const float XBee::mDutyTable[] = {
inst 1:7f0b90daef14 10 0.4f, 0.85f, 0.85f, 0.85f
inst 1:7f0b90daef14 11 };
inst 1:7f0b90daef14 12 // 右回りがプラスで左回りがマイナス
inst 1:7f0b90daef14 13 const float XBee::mRollCoeffTable[] = {
inst 1:7f0b90daef14 14 -0.85f, 0.85f, -0.4f, 0.4f
inst 1:7f0b90daef14 15 };
inst 1:7f0b90daef14 16
inst 1:7f0b90daef14 17 XBee::XBee( char address ) : I2CDevice( address ){
inst 1:7f0b90daef14 18 mMoveDirection_rad = 0;
inst 1:7f0b90daef14 19 mMoveDuty = 1.0f;
inst 1:7f0b90daef14 20 mRollCoeff = 0;
inst 1:7f0b90daef14 21 mActionType = Command::STOP;
inst 0:7e177131730d 22 }
inst 0:7e177131730d 23
inst 0:7e177131730d 24 void XBee::read(){
inst 1:7f0b90daef14 25 char buf[ 3 ] = { 0 };
inst 1:7f0b90daef14 26 I2CDevice::mI2C->read( mAddress, buf, 3 );
inst 1:7f0b90daef14 27
inst 1:7f0b90daef14 28 mActionType = static_cast< Command::ActionType >( buf[ 0 ] );
inst 1:7f0b90daef14 29
inst 1:7f0b90daef14 30 switch ( mActionType ){
inst 1:7f0b90daef14 31 case Command::STOP:
inst 1:7f0b90daef14 32 break;
inst 1:7f0b90daef14 33
inst 1:7f0b90daef14 34 case Command::MOVE:
inst 1:7f0b90daef14 35 mMoveDirection_rad = 2.0f * gPI / mNumOfDivDirection * buf[ 1 ];
inst 1:7f0b90daef14 36 mMoveDuty = mDutyTable[ buf[ 2 ] ];
inst 1:7f0b90daef14 37 break;
inst 1:7f0b90daef14 38
inst 1:7f0b90daef14 39 case Command::ROLL:
inst 1:7f0b90daef14 40 mRollCoeff = mRollCoeffTable[ buf[ 1 ] ];
inst 1:7f0b90daef14 41 break;
inst 1:7f0b90daef14 42
inst 1:7f0b90daef14 43 default:
inst 1:7f0b90daef14 44 mActionType = Command::STOP;
inst 1:7f0b90daef14 45 break;
inst 1:7f0b90daef14 46 }
inst 1:7f0b90daef14 47 }
inst 1:7f0b90daef14 48
inst 1:7f0b90daef14 49 Command XBee::generateCommand(){
inst 1:7f0b90daef14 50 return Command( mActionType, mMoveDirection_rad, mMoveDuty, mRollCoeff );
inst 1:7f0b90daef14 51 }