Haruna Nakazawa / AigamozuControlPackets_Nakazawa

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Dependencies:   VNH5019

Fork of AigamozuControlPackets by aigamozu

Diff: AigamozuControlPackets.h

Revision:
0:2b8b56ac7a82
Child:
1:80448565c15c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AigamozuControlPackets.h	Fri May 30 15:33:50 2014 +0000
@@ -0,0 +1,44 @@
+#include "mbed.h"
+#include "VNH5019.h"
+
+#ifndef AIGAMOZU_CONTROL_PACKETS
+#define AIGAMOZU_CONTROL_PACKETS
+
+#define RECEIVES_GPS_STATUS_LENGTH 32
+#define RECEIVES_ACK_LENGTH 13
+
+
+enum COMMAND_TYPE {MANUAL = 'M', STATUS_REQUEST = 'S', CHANGE_MODE = 'C', RECEIVE_STATUS = 'R'};
+enum MODE {STANDBY_MODE, MANUAL_MODE,AUTO_MODE};
+enum STATUS {NORMAL,BUSY};
+
+union TEST_T{
+    long a;
+    uint8_t b[4];
+    };
+
+class AigamozuControlPackets{
+    
+    public:
+    Ticker randomAxis;
+    
+    //Change
+    
+    //Create Command: Robot -> Controller/Base 
+    uint8_t* createStatusPacket(long latitudeH,long latitudeL,long longitudeH,long longitudeL,uint8_t fromID,uint8_t toID);
+    uint8_t* createAckPacket(uint8_t fromID,uint8_t toID);
+    
+    //check Command: 
+    uint8_t check(); 
+        
+    //
+    bool checkCommandAvilable(COMMAND_TYPE requestCommand);
+    uint8_t checkCommnadType(uint8_t* buf);
+    
+    MODE nowMode;
+    STATUS nowStatus;
+        
+    private:
+    };
+    
+#endif
\ No newline at end of file