20150512 Nakazawa
Fork of AigamozuControlPackets by
AigamozuControlPackets.cpp@11:4d71c9cc3b4a, 2015-04-13 (annotated)
- Committer:
- kityann
- Date:
- Mon Apr 13 10:09:30 2015 +0000
- Revision:
- 11:4d71c9cc3b4a
- Parent:
- 10:e77c664ee5e2
- Child:
- 12:eaab0ccb9255
agz;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
m5171135 | 0:2b8b56ac7a82 | 1 | #include "AigamozuControlPackets.h" |
m5171135 | 0:2b8b56ac7a82 | 2 | #include "VNH5019.h" |
m5171135 | 0:2b8b56ac7a82 | 3 | |
m5171135 | 6:f164a716be46 | 4 | ////////////////////////////// |
m5171135 | 6:f164a716be46 | 5 | // Init // |
m5171135 | 6:f164a716be46 | 6 | ////////////////////////////// |
m5171135 | 5:3f51eeb5aedc | 7 | AigamozuControlPackets::AigamozuControlPackets(VNH5019 agzSheild):_agzSheild(agzSheild){ |
m5171135 | 2:3f2d4f53ceed | 8 | packetData = new uint8_t[50]; |
m5171135 | 2:3f2d4f53ceed | 9 | packetLength = 0; |
m5171135 | 7:200ce5c1f486 | 10 | //--init base point--// |
kityann | 11:4d71c9cc3b4a | 11 | //basePoint[0].x = 13956.2655; |
kityann | 11:4d71c9cc3b4a | 12 | //basePoint[0].y = 3731.5060; |
kityann | 11:4d71c9cc3b4a | 13 | basePoint[0].x = 100.2655; |
kityann | 11:4d71c9cc3b4a | 14 | basePoint[0].y = 30.5060; |
m5171135 | 7:200ce5c1f486 | 15 | |
kityann | 11:4d71c9cc3b4a | 16 | //basePoint[1].x = 13956.2898; |
kityann | 11:4d71c9cc3b4a | 17 | //basePoint[1].y = 3731.5055; |
kityann | 11:4d71c9cc3b4a | 18 | basePoint[1].x = 200.2898; |
kityann | 11:4d71c9cc3b4a | 19 | basePoint[1].y = 30.5055; |
m5171135 | 7:200ce5c1f486 | 20 | |
kityann | 11:4d71c9cc3b4a | 21 | //basePoint[2].x = 13956.2915; |
kityann | 11:4d71c9cc3b4a | 22 | //basePoint[2].y = 3731.5245; |
kityann | 11:4d71c9cc3b4a | 23 | basePoint[2].x = 200.2915; |
kityann | 11:4d71c9cc3b4a | 24 | basePoint[2].y = 40.5245; |
m5171135 | 7:200ce5c1f486 | 25 | |
kityann | 11:4d71c9cc3b4a | 26 | //basePoint[3].x = 13956.2680; |
kityann | 11:4d71c9cc3b4a | 27 | //basePoint[3].y = 3731.5248; |
kityann | 11:4d71c9cc3b4a | 28 | basePoint[3].x = 100.2680; |
kityann | 11:4d71c9cc3b4a | 29 | basePoint[3].y = 40.5248; |
m5171135 | 2:3f2d4f53ceed | 30 | } |
m5171135 | 2:3f2d4f53ceed | 31 | |
m5171135 | 5:3f51eeb5aedc | 32 | |
m5171135 | 2:3f2d4f53ceed | 33 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 34 | // Controller/Base -> Robot // |
m5171135 | 2:3f2d4f53ceed | 35 | ////////////////////////////// |
m5171135 | 4:04dadf67ecb6 | 36 | |
m5171135 | 2:3f2d4f53ceed | 37 | void AigamozuControlPackets::createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR) |
m5171135 | 2:3f2d4f53ceed | 38 | { |
m5171135 | 2:3f2d4f53ceed | 39 | uint8_t tmp[] = {'A','G','S','M','F',fromID,'T',toID,'L',directionL,pwmL,'R',directionR,pwmR,'A','G','E'}; |
m5171135 | 2:3f2d4f53ceed | 40 | for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 41 | packetLength = RECEIVE_STATUS_COMMNAD_LENGTH; |
m5171135 | 2:3f2d4f53ceed | 42 | } |
m5171135 | 2:3f2d4f53ceed | 43 | |
s1200058 | 9:4f675487f06b | 44 | void AigamozuControlPackets::createRequestCommand(uint8_t fromID,uint8_t toID) |
m5171135 | 0:2b8b56ac7a82 | 45 | { |
m5171135 | 2:3f2d4f53ceed | 46 | uint8_t tmp[] = {'A','G','S','S','F',fromID,'T',toID,'A','G','E'}; |
m5171135 | 2:3f2d4f53ceed | 47 | for(int i = 0; i < REQUEST_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 48 | packetLength = REQUEST_COMMNAD_LENGTH; |
m5171135 | 2:3f2d4f53ceed | 49 | } |
m5171135 | 0:2b8b56ac7a82 | 50 | |
m5171135 | 2:3f2d4f53ceed | 51 | void AigamozuControlPackets::createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode){ |
m5171135 | 2:3f2d4f53ceed | 52 | uint8_t tmp[] = {'A','G','S','C','F',fromID,'T',toID,mode,'A','G','E'}; |
m5171135 | 2:3f2d4f53ceed | 53 | for(int i = 0; i < CHANGE_MODE_COMMAND_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 54 | packetLength = CHANGE_MODE_COMMAND_LENGTH; |
m5171135 | 2:3f2d4f53ceed | 55 | } |
m5171135 | 2:3f2d4f53ceed | 56 | |
m5171135 | 2:3f2d4f53ceed | 57 | |
m5171135 | 2:3f2d4f53ceed | 58 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 59 | // Robot -> Controller/Base // |
m5171135 | 2:3f2d4f53ceed | 60 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 61 | |
m5171135 | 2:3f2d4f53ceed | 62 | void AigamozuControlPackets::createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL) |
m5171135 | 2:3f2d4f53ceed | 63 | { |
m5171135 | 0:2b8b56ac7a82 | 64 | //useing union's split::: long hoge.a(4byte) == uint8_t hoge.b[4] |
m5171135 | 0:2b8b56ac7a82 | 65 | TEST_T latH,latL,lonH,lonL; |
m5171135 | 0:2b8b56ac7a82 | 66 | |
m5171135 | 0:2b8b56ac7a82 | 67 | latH.a = latitudeH; |
m5171135 | 0:2b8b56ac7a82 | 68 | latL.a = latitudeL; |
m5171135 | 0:2b8b56ac7a82 | 69 | lonH.a = longitudeH; |
m5171135 | 0:2b8b56ac7a82 | 70 | lonL.a = longitudeL; |
m5171135 | 0:2b8b56ac7a82 | 71 | |
m5171135 | 1:80448565c15c | 72 | uint8_t tmp[] = {'A','G','S','R','F',fromID,'T',toID,'S',nowStatus,71,80,83,latH.b[0],latH.b[1],latH.b[2],latH.b[3],latL.b[0],latL.b[1],latL.b[2],latL.b[3],lonH.b[0],lonH.b[1],lonH.b[2],lonH.b[3],lonL.b[0],lonL.b[1],lonL.b[2],lonL.b[3],65,71,69}; |
m5171135 | 2:3f2d4f53ceed | 73 | for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) packetData[i] = tmp[i]; |
m5171135 | 2:3f2d4f53ceed | 74 | packetLength = RECEIVE_STATUS_COMMNAD_LENGTH; |
m5171135 | 0:2b8b56ac7a82 | 75 | } |
m5171135 | 0:2b8b56ac7a82 | 76 | |
m5171135 | 2:3f2d4f53ceed | 77 | |
m5171135 | 2:3f2d4f53ceed | 78 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 79 | // Using createPacket // |
m5171135 | 2:3f2d4f53ceed | 80 | ////////////////////////////// |
m5171135 | 4:04dadf67ecb6 | 81 | uint8_t AigamozuControlPackets::checkCommnadType(uint8_t* buf){ |
m5171135 | 4:04dadf67ecb6 | 82 | return buf[14]; |
m5171135 | 4:04dadf67ecb6 | 83 | } |
m5171135 | 2:3f2d4f53ceed | 84 | |
m5171135 | 2:3f2d4f53ceed | 85 | uint8_t* AigamozuControlPackets::getPacketData(){ |
m5171135 | 2:3f2d4f53ceed | 86 | return packetData; |
m5171135 | 2:3f2d4f53ceed | 87 | } |
m5171135 | 2:3f2d4f53ceed | 88 | |
m5171135 | 2:3f2d4f53ceed | 89 | int AigamozuControlPackets::getPacketLength(){ |
m5171135 | 2:3f2d4f53ceed | 90 | return packetLength; |
m5171135 | 0:2b8b56ac7a82 | 91 | } |
m5171135 | 0:2b8b56ac7a82 | 92 | |
m5171135 | 5:3f51eeb5aedc | 93 | void AigamozuControlPackets::changeSpeed(uint8_t* buf){ |
m5171135 | 5:3f51eeb5aedc | 94 | if(nowMode == MANUAL_MODE){ |
m5171135 | 5:3f51eeb5aedc | 95 | manualCount =0; |
m5171135 | 5:3f51eeb5aedc | 96 | _agzSheild.changeSpeed(buf[20],buf[21],buf[23],buf[24]); |
m5171135 | 5:3f51eeb5aedc | 97 | } |
m5171135 | 5:3f51eeb5aedc | 98 | } |
m5171135 | 4:04dadf67ecb6 | 99 | |
m5171135 | 6:f164a716be46 | 100 | ////////////////////////////// |
m5171135 | 6:f164a716be46 | 101 | // each mode interrupt // |
m5171135 | 6:f164a716be46 | 102 | ////////////////////////////// |
m5171135 | 6:f164a716be46 | 103 | |
m5171135 | 6:f164a716be46 | 104 | void AigamozuControlPackets::manualMode(){ |
m5171135 | 6:f164a716be46 | 105 | manualCount++; |
m5171135 | 6:f164a716be46 | 106 | if(manualCount > 10){ |
m5171135 | 6:f164a716be46 | 107 | _agzSheild.changeSpeed(0,0,0,0); |
m5171135 | 6:f164a716be46 | 108 | manualCount = 0; |
m5171135 | 6:f164a716be46 | 109 | } |
m5171135 | 6:f164a716be46 | 110 | } |
m5171135 | 6:f164a716be46 | 111 | |
m5171135 | 6:f164a716be46 | 112 | |
m5171135 | 5:3f51eeb5aedc | 113 | void AigamozuControlPackets::randomAuto(){ |
m5171135 | 2:3f2d4f53ceed | 114 | |
m5171135 | 5:3f51eeb5aedc | 115 | randomCount++; |
m5171135 | 5:3f51eeb5aedc | 116 | |
m5171135 | 5:3f51eeb5aedc | 117 | if(randomCount < 10) _agzSheild.changeSpeed(1,128,1,128); |
m5171135 | 5:3f51eeb5aedc | 118 | else if(randomCount < 11) _agzSheild.changeSpeed(2,128,2,128); |
m5171135 | 5:3f51eeb5aedc | 119 | else randomCount = 0; |
m5171135 | 5:3f51eeb5aedc | 120 | |
m5171135 | 5:3f51eeb5aedc | 121 | } |
m5171135 | 6:f164a716be46 | 122 | |
m5171135 | 6:f164a716be46 | 123 | void AigamozuControlPackets::gpsAuto(){ |
m5171135 | 5:3f51eeb5aedc | 124 | |
kityann | 10:e77c664ee5e2 | 125 | /* |
kityann | 10:e77c664ee5e2 | 126 | _agzSheild.changeSpeed(2,128,2,128):for moving robot |
kityann | 10:e77c664ee5e2 | 127 | */ |
kityann | 10:e77c664ee5e2 | 128 | |
kityann | 10:e77c664ee5e2 | 129 | Timer Automove_Timer; |
kityann | 10:e77c664ee5e2 | 130 | |
kityann | 10:e77c664ee5e2 | 131 | bool out_flag = true; |
kityann | 10:e77c664ee5e2 | 132 | static bool out_count_flag = false; |
kityann | 10:e77c664ee5e2 | 133 | |
m5171135 | 7:200ce5c1f486 | 134 | printf("Check Start\n"); |
kityann | 11:4d71c9cc3b4a | 135 | printf("agzPoint=%f,%f\n",agzPoint.x,agzPoint.y); |
kityann | 11:4d71c9cc3b4a | 136 | printf("bsdrPoint1=%f,%f\n",basePoint[0].x,basePoint[0].y); |
kityann | 11:4d71c9cc3b4a | 137 | printf("bsdrPoint2=%f,%f\n",basePoint[1].x,basePoint[1].y); |
kityann | 11:4d71c9cc3b4a | 138 | printf("bsdrPoint3=%f,%f\n",basePoint[2].x,basePoint[2].y); |
kityann | 11:4d71c9cc3b4a | 139 | printf("bsdrPoint4=%f,%f\n",basePoint[3].x,basePoint[3].y); |
kityann | 10:e77c664ee5e2 | 140 | if(AigamozuControlPackets::checkGpsHit(basePoint[0],basePoint[1],basePoint[2],agzPoint)){ |
kityann | 10:e77c664ee5e2 | 141 | printf("InArea\n"); |
kityann | 10:e77c664ee5e2 | 142 | out_flag = false; |
kityann | 10:e77c664ee5e2 | 143 | out_count_flag = false; |
kityann | 11:4d71c9cc3b4a | 144 | }else if(AigamozuControlPackets::checkGpsHit(basePoint[2],basePoint[3],basePoint[0],agzPoint)){ |
kityann | 10:e77c664ee5e2 | 145 | printf("InArea\n"); |
kityann | 10:e77c664ee5e2 | 146 | out_flag = false; |
kityann | 10:e77c664ee5e2 | 147 | out_count_flag = false; |
kityann | 10:e77c664ee5e2 | 148 | }else{//if robot is out |
kityann | 10:e77c664ee5e2 | 149 | printf("OutArea\n"); |
kityann | 10:e77c664ee5e2 | 150 | out_flag = true; |
m5171135 | 7:200ce5c1f486 | 151 | } |
m5171135 | 7:200ce5c1f486 | 152 | |
kityann | 10:e77c664ee5e2 | 153 | //if robot is out: |
kityann | 10:e77c664ee5e2 | 154 | if(out_flag == true || out_count_flag == false){ |
kityann | 10:e77c664ee5e2 | 155 | Automove_Timer.reset(); |
kityann | 10:e77c664ee5e2 | 156 | out_count_flag = true; |
kityann | 10:e77c664ee5e2 | 157 | } |
kityann | 10:e77c664ee5e2 | 158 | if(out_flag){ |
kityann | 10:e77c664ee5e2 | 159 | if(Automove_Timer.read_ms() < 1000){ |
kityann | 10:e77c664ee5e2 | 160 | _agzSheild.changeSpeed(1,64,2,64);//turn |
kityann | 10:e77c664ee5e2 | 161 | }else if(Automove_Timer.read_ms() < 5000){ |
kityann | 10:e77c664ee5e2 | 162 | _agzSheild.changeSpeed(1,64,1,64);//straight |
kityann | 10:e77c664ee5e2 | 163 | }else if(Automove_Timer.read_ms() >= 5000){ |
kityann | 10:e77c664ee5e2 | 164 | out_count_flag=false; |
kityann | 10:e77c664ee5e2 | 165 | } |
kityann | 10:e77c664ee5e2 | 166 | }else{ |
kityann | 10:e77c664ee5e2 | 167 | //if robot is inner |
kityann | 10:e77c664ee5e2 | 168 | _agzSheild.changeSpeed(1,64,1,64);//straight |
kityann | 10:e77c664ee5e2 | 169 | } |
kityann | 10:e77c664ee5e2 | 170 | |
kityann | 10:e77c664ee5e2 | 171 | } |
kityann | 10:e77c664ee5e2 | 172 | |
m5171135 | 7:200ce5c1f486 | 173 | |
m5171135 | 7:200ce5c1f486 | 174 | |
m5171135 | 7:200ce5c1f486 | 175 | |
m5171135 | 7:200ce5c1f486 | 176 | |
m5171135 | 7:200ce5c1f486 | 177 | |
m5171135 | 7:200ce5c1f486 | 178 | //Update Robot Point |
kityann | 11:4d71c9cc3b4a | 179 | void AigamozuControlPackets::reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){ |
kityann | 11:4d71c9cc3b4a | 180 | agzPoint.x = (double)latitudeH + (double)(latitudeL / 1000000.0); |
kityann | 11:4d71c9cc3b4a | 181 | agzPoint.y = (double)longitudeH +(double)(longitudeL / 1000000.0); |
m5171135 | 7:200ce5c1f486 | 182 | |
m5171135 | 7:200ce5c1f486 | 183 | } |
kityann | 11:4d71c9cc3b4a | 184 | |
kityann | 11:4d71c9cc3b4a | 185 | //Updata Base Point |
kityann | 11:4d71c9cc3b4a | 186 | void AigamozuControlPackets::reNewBasePoint(int id, long latitudeH,long latitudeL,long longitudeH,long longitudeL){ |
kityann | 11:4d71c9cc3b4a | 187 | basePoint[id].x = (double)latitudeH + (double)(latitudeL / 1000000.0); |
kityann | 11:4d71c9cc3b4a | 188 | basePoint[id].y = (double)longitudeH +(double)(longitudeL / 1000000.0); |
kityann | 11:4d71c9cc3b4a | 189 | } |
m5171135 | 7:200ce5c1f486 | 190 | |
m5171135 | 7:200ce5c1f486 | 191 | |
m5171135 | 7:200ce5c1f486 | 192 | //Check Hit Point Area |
m5171135 | 7:200ce5c1f486 | 193 | bool AigamozuControlPackets::checkGpsHit( vertex2D A, vertex2D B, vertex2D C, vertex2D P){ |
m5171135 | 7:200ce5c1f486 | 194 | vector2D AB = AigamozuControlPackets::sub_vector(B, A); |
m5171135 | 7:200ce5c1f486 | 195 | vector2D BP = AigamozuControlPackets::sub_vector(P, B); |
m5171135 | 7:200ce5c1f486 | 196 | |
m5171135 | 7:200ce5c1f486 | 197 | vector2D BC = AigamozuControlPackets::sub_vector(C, B); |
m5171135 | 7:200ce5c1f486 | 198 | vector2D CP = AigamozuControlPackets::sub_vector(P, C); |
m5171135 | 7:200ce5c1f486 | 199 | |
m5171135 | 7:200ce5c1f486 | 200 | vector2D CA = AigamozuControlPackets::sub_vector(A, C); |
m5171135 | 7:200ce5c1f486 | 201 | vector2D AP = AigamozuControlPackets::sub_vector(P, A); |
m5171135 | 7:200ce5c1f486 | 202 | |
m5171135 | 7:200ce5c1f486 | 203 | double c1 = AB.x * BP.y - AB.y * BP.x; |
m5171135 | 7:200ce5c1f486 | 204 | double c2 = BC.x * CP.y - BC.y * CP.x; |
m5171135 | 7:200ce5c1f486 | 205 | double c3 = CA.x * AP.y - CA.y * AP.x; |
m5171135 | 7:200ce5c1f486 | 206 | |
m5171135 | 7:200ce5c1f486 | 207 | if( ( c1 > 0 && c2 > 0 && c3 > 0 ) || ( c1 < 0 && c2 < 0 && c3 < 0 ) ) { |
m5171135 | 7:200ce5c1f486 | 208 | return true; |
m5171135 | 5:3f51eeb5aedc | 209 | } |
m5171135 | 6:f164a716be46 | 210 | |
m5171135 | 7:200ce5c1f486 | 211 | return false; |
m5171135 | 7:200ce5c1f486 | 212 | |
m5171135 | 7:200ce5c1f486 | 213 | } |
m5171135 | 7:200ce5c1f486 | 214 | |
m5171135 | 7:200ce5c1f486 | 215 | vector2D AigamozuControlPackets::sub_vector( const vector2D& a, const vector2D& b ) |
m5171135 | 7:200ce5c1f486 | 216 | { |
m5171135 | 7:200ce5c1f486 | 217 | vector2D ret; |
m5171135 | 7:200ce5c1f486 | 218 | ret.x = a.x - b.x; |
m5171135 | 7:200ce5c1f486 | 219 | ret.y = a.y - b.y; |
m5171135 | 7:200ce5c1f486 | 220 | return ret; |
m5171135 | 7:200ce5c1f486 | 221 | } |
m5171135 | 7:200ce5c1f486 | 222 | |
m5171135 | 7:200ce5c1f486 | 223 | |
m5171135 | 7:200ce5c1f486 | 224 | |
m5171135 | 5:3f51eeb5aedc | 225 | |
m5171135 | 6:f164a716be46 | 226 | ////////////////////////////// |
m5171135 | 6:f164a716be46 | 227 | // Mode change // |
m5171135 | 6:f164a716be46 | 228 | ////////////////////////////// |
m5171135 | 2:3f2d4f53ceed | 229 | bool AigamozuControlPackets::changeMode(uint8_t *buf){ |
m5171135 | 2:3f2d4f53ceed | 230 | |
m5171135 | 6:f164a716be46 | 231 | //reset |
m5171135 | 5:3f51eeb5aedc | 232 | _agzSheild.changeSpeed(0,0,0,0); |
m5171135 | 6:f164a716be46 | 233 | eachModeInt.detach(); |
m5171135 | 5:3f51eeb5aedc | 234 | |
m5171135 | 6:f164a716be46 | 235 | //Select Mode |
m5171135 | 2:3f2d4f53ceed | 236 | switch(buf[19]){ |
m5171135 | 2:3f2d4f53ceed | 237 | case 0: |
m5171135 | 2:3f2d4f53ceed | 238 | nowMode = STANDBY_MODE; |
m5171135 | 2:3f2d4f53ceed | 239 | break; |
m5171135 | 2:3f2d4f53ceed | 240 | |
m5171135 | 2:3f2d4f53ceed | 241 | case 1: |
m5171135 | 6:f164a716be46 | 242 | eachModeInt.attach(this,&AigamozuControlPackets::manualMode,1.0); |
m5171135 | 2:3f2d4f53ceed | 243 | nowMode = MANUAL_MODE; |
m5171135 | 2:3f2d4f53ceed | 244 | break; |
m5171135 | 2:3f2d4f53ceed | 245 | |
m5171135 | 2:3f2d4f53ceed | 246 | case 2: |
kityann | 11:4d71c9cc3b4a | 247 | //nowMode = AUTO_MODE; |
kityann | 11:4d71c9cc3b4a | 248 | //eachModeInt.attach(this,&AigamozuControlPackets::randomAuto,1.0); |
kityann | 11:4d71c9cc3b4a | 249 | eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,1.0); |
kityann | 11:4d71c9cc3b4a | 250 | nowMode = AUTO_GPS_MODE; |
m5171135 | 2:3f2d4f53ceed | 251 | break; |
m5171135 | 4:04dadf67ecb6 | 252 | |
m5171135 | 4:04dadf67ecb6 | 253 | case 3: |
kityann | 10:e77c664ee5e2 | 254 | eachModeInt.attach(this,&AigamozuControlPackets::gpsAuto,0.2); |
m5171135 | 4:04dadf67ecb6 | 255 | nowMode = AUTO_GPS_MODE; |
m5171135 | 4:04dadf67ecb6 | 256 | break; |
m5171135 | 4:04dadf67ecb6 | 257 | |
m5171135 | 6:f164a716be46 | 258 | default: |
m5171135 | 6:f164a716be46 | 259 | nowMode = STANDBY_MODE; |
m5171135 | 6:f164a716be46 | 260 | break; |
m5171135 | 5:3f51eeb5aedc | 261 | |
m5171135 | 2:3f2d4f53ceed | 262 | } |
m5171135 | 2:3f2d4f53ceed | 263 | return false; |
m5171135 | 2:3f2d4f53ceed | 264 | } |
m5171135 | 5:3f51eeb5aedc | 265 | |
m5171135 | 5:3f51eeb5aedc | 266 | |
m5171135 | 2:3f2d4f53ceed | 267 |