Mami Yokokawa / Mbed 2 deprecated Aigamozu_Robot_March

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

Fork of Aigamozu_Robot_展示会 by aigamozu

Files at this revision

API Documentation at this revision

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

AigamozuControlPackets.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
setting.lib Show annotated file Show diff for this revision Revisions of this file 
--- 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

--- 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();
         }
         
     }

--- 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