Mami Yokokawa
3/22-23の実験用 Send_Status(): 加速度・ジャイロをパケットで相手に送信 Get_Status():受信したパケットを表示
Dependencies: ADXL345 AigamozuControlPackets_展示会 Aigamozu_Robot_展示会 HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST mbed setting
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Aigamozu_Robot_展示会
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aigamozu
Revision 42:69b4cb31aafc, committed 2017-03-17
- Comitter:
- s1200058
- Date:
- Fri Mar 17 09:04:13 2017 +0000
- Parent:
- 41:55539183dbb0
- Commit message:
- 3/22-23????; ??????????????
Changed in this revision
diff -r 55539183dbb0 -r 69b4cb31aafc AigamozuControlPackets.lib --- a/AigamozuControlPackets.lib Mon Mar 13 17:55:45 2017 +0000 +++ b/AigamozuControlPackets.lib Fri Mar 17 09:04:13 2017 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/aigamozu/code/AigamozuControlPackets_/#36fdf8cd4336 +https://developer.mbed.org/teams/aigamozu/code/AigamozuControlPackets_/#4695e72853c6
diff -r 55539183dbb0 -r 69b4cb31aafc main.cpp
--- a/main.cpp Mon Mar 13 17:55:45 2017 +0000
+++ b/main.cpp Fri Mar 17 09:04:13 2017 +0000
@@ -31,7 +31,7 @@
//************ID Number*****************
const char MyID = 'b';
-const char SenderIDc = 'h';
+const char SenderIDc = 'e';
//************ID Number*****************
/////////////////////////////////////////
@@ -152,6 +152,14 @@
xbee.send(tx64request);
}
+void Get_Status(uint8_t *packetdata){
+
+ agz.GetData(&packetdata[8],&packetdata[10],&packetdata[12],&packetdata[14],&packetdata[16],&packetdata[18]);
+ printf("%d, %d, %d, %d, %d, %d, %d\n\r", agz.r_gx, agz.r_gy, agz.r_gz, agz.r_ax, agz.r_ay, agz.r_az, packetdata[20]);
+
+}
+
+
/////////////////////////////////////////
//
//Update Sensor
@@ -246,7 +254,7 @@
setup_gyr();
Timer auto_Timer;
- const int auto_Time = 500; //refresh time in ms
+ const int auto_Time = 200; //refresh time in ms
wait_ms(2000);
@@ -272,6 +280,7 @@
xbee.getResponse().getZBRxResponse(zbRx);
uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
char Command_type = agz.checkCommnadType(buf);//コマンドタイプを取得する
+ uint8_t *buf1 = &buf[11];
//Check Command Type
switch(Command_type){
@@ -281,14 +290,21 @@
break;
}
case STATUS_REQUEST:{
- flag = 1;
break;
}
case CHANGE_MODE:{
New_Mode(buf);
+ if(flag == 0){
+ flag = 1;
+ }
+ else{
+ flag = 0;
+ }
break;
}
+ //status受信後
case RECEIVE_STATUS:{
+ Get_Status(buf1);
break;
}
default:{
@@ -298,9 +314,10 @@
}//endifZB_RX_RESPONSE
}//endifisAvailable
+ //200msごとにstatus送信
if(auto_Timer.read_ms() >= auto_Time){
auto_Timer.reset();
- Send_Status();
+ //Send_Status();
}
}
diff -r 55539183dbb0 -r 69b4cb31aafc setting.lib --- a/setting.lib Mon Mar 13 17:55:45 2017 +0000 +++ b/setting.lib Fri Mar 17 09:04:13 2017 +0000 @@ -1,1 +1,1 @@ -setting#00c23c8ff4d8 +https://developer.mbed.org/users/s1200058/code/setting/#00c23c8ff4d8