Haruna Nakazawa / AigamozuControlPackets_Nakazawa

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Dependencies:   VNH5019

Fork of AigamozuControlPackets by aigamozu

AigamozuControlPackets.h@6:f164a716be46, 2014-06-09 (annotated)

Committer:
m5171135
Date:
Mon Jun 09 00:16:38 2014 +0000
Revision:
6:f164a716be46
Parent:
5:3f51eeb5aedc
Child:
7:200ce5c1f486
ver1.3;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m5171135 0:2b8b56ac7a82 1 #include "mbed.h"
m5171135 0:2b8b56ac7a82 2 #include "VNH5019.h"
m5171135 0:2b8b56ac7a82 3
m5171135 0:2b8b56ac7a82 4 #ifndef AIGAMOZU_CONTROL_PACKETS
m5171135 0:2b8b56ac7a82 5 #define AIGAMOZU_CONTROL_PACKETS
m5171135 0:2b8b56ac7a82 6
m5171135 2:3f2d4f53ceed 7 #define MANUAL_COMMAND_LENGTH 17
m5171135 2:3f2d4f53ceed 8 #define REQUEST_COMMNAD_LENGTH 11
m5171135 2:3f2d4f53ceed 9 #define CHANGE_MODE_COMMAND_LENGTH 12
m5171135 2:3f2d4f53ceed 10 #define RECEIVE_STATUS_COMMNAD_LENGTH 32
m5171135 0:2b8b56ac7a82 11
m5171135 0:2b8b56ac7a82 12 enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R'};
m5171135 4:04dadf67ecb6 13 enum MODE {STANDBY_MODE = 0, MANUAL_MODE = 1,AUTO_MODE = 2,AUTO_GPS_MODE = 3};
m5171135 6:f164a716be46 14 enum STATUS {GPS_AVAIL = 0, GPS_UNAVAIL = 1,GPS_OUT_AREA = 2};
m5171135 0:2b8b56ac7a82 15
m5171135 0:2b8b56ac7a82 16 union TEST_T{
m5171135 0:2b8b56ac7a82 17 long a;
m5171135 0:2b8b56ac7a82 18 uint8_t b[4];
m5171135 0:2b8b56ac7a82 19 };
m5171135 2:3f2d4f53ceed 20
m5171135 0:2b8b56ac7a82 21 class AigamozuControlPackets{
m5171135 0:2b8b56ac7a82 22
m5171135 6:f164a716be46 23 //--------PUBLIC-----------//
m5171135 0:2b8b56ac7a82 24 public:
m5171135 5:3f51eeb5aedc 25 AigamozuControlPackets(VNH5019 agzSheild);
m5171135 5:3f51eeb5aedc 26
m5171135 6:f164a716be46 27 Ticker eachModeInt;
m5171135 0:2b8b56ac7a82 28
m5171135 2:3f2d4f53ceed 29 uint8_t* packetData;
m5171135 2:3f2d4f53ceed 30 //Create Packet: Controller/Base -> Robot
m5171135 2:3f2d4f53ceed 31 void createManualCommad(uint8_t fromID,uint8_t toID,uint8_t directionL,uint8_t pwmL,uint8_t directionR, uint8_t pwmR);
m5171135 2:3f2d4f53ceed 32 void createRequestCommand(uint8_t fromID,uint8_t toID,uint8_t);
m5171135 2:3f2d4f53ceed 33 void createChangeModeCommand(uint8_t fromID,uint8_t toID,uint8_t,MODE mode);
m5171135 0:2b8b56ac7a82 34
m5171135 2:3f2d4f53ceed 35 //Create Packet: Robot -> Controller/Base
m5171135 2:3f2d4f53ceed 36 void createReceiveStatusCommand(uint8_t fromID,uint8_t toID,long latitudeH,long latitudeL,long longitudeH,long longitudeL);
m5171135 2:3f2d4f53ceed 37 //uint8_t* createAckPacket(uint8_t fromID,uint8_t toID);
m5171135 0:2b8b56ac7a82 38
m5171135 2:3f2d4f53ceed 39 //using create packet
m5171135 2:3f2d4f53ceed 40 uint8_t* getPacketData();
m5171135 2:3f2d4f53ceed 41 int getPacketLength();
m5171135 2:3f2d4f53ceed 42
m5171135 2:3f2d4f53ceed 43 //Change Mode:
m5171135 2:3f2d4f53ceed 44 bool changeMode(uint8_t *buf);
m5171135 5:3f51eeb5aedc 45
m5171135 5:3f51eeb5aedc 46 //Check Command Type using xbee buffer;
m5171135 0:2b8b56ac7a82 47 uint8_t checkCommnadType(uint8_t* buf);
m5171135 0:2b8b56ac7a82 48
m5171135 5:3f51eeb5aedc 49 //Change Motor Speed
m5171135 5:3f51eeb5aedc 50 void changeSpeed(uint8_t* buf);
m5171135 5:3f51eeb5aedc 51
m5171135 0:2b8b56ac7a82 52 MODE nowMode;
m5171135 0:2b8b56ac7a82 53 STATUS nowStatus;
m5171135 4:04dadf67ecb6 54 int packetLength;
m5171135 4:04dadf67ecb6 55
m5171135 4:04dadf67ecb6 56
m5171135 6:f164a716be46 57 //--------PRIVATE-----------//
m5171135 0:2b8b56ac7a82 58 private:
m5171135 5:3f51eeb5aedc 59 //
m5171135 5:3f51eeb5aedc 60 VNH5019 _agzSheild;
m5171135 5:3f51eeb5aedc 61
m5171135 5:3f51eeb5aedc 62 void manualMode();
m5171135 5:3f51eeb5aedc 63 int manualCount;
m5171135 5:3f51eeb5aedc 64
m5171135 5:3f51eeb5aedc 65 //Auto Type 1 -> Random
m5171135 5:3f51eeb5aedc 66 void randomAuto();
m5171135 5:3f51eeb5aedc 67 int randomCount;
m5171135 5:3f51eeb5aedc 68
m5171135 5:3f51eeb5aedc 69 //Auto Type 2 -> GPS
m5171135 5:3f51eeb5aedc 70 void gpsAuto();
m5171135 0:2b8b56ac7a82 71 };
m5171135 0:2b8b56ac7a82 72
m5171135 0:2b8b56ac7a82 73 #endif