Haruna Nakazawa / AigamozuControlPackets_Nakazawa

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Dependencies:   VNH5019

Fork of AigamozuControlPackets by aigamozu

Diff: AigamozuControlPackets.h

Revision:
5:3f51eeb5aedc
Parent:
4:04dadf67ecb6
Child:
6:f164a716be46
--- a/AigamozuControlPackets.h	Sun Jun 08 11:54:53 2014 +0000
+++ b/AigamozuControlPackets.h	Sun Jun 08 15:09:02 2014 +0000
@@ -19,10 +19,14 @@
     };
     
 
+
+
 class AigamozuControlPackets{
     
     public:
-    AigamozuControlPackets(Ticker autoInt);
+    AigamozuControlPackets(VNH5019 agzSheild);
+    
+    Ticker hoge;
     
     uint8_t* packetData;
     //Create Packet: Controller/Base -> Robot 
@@ -40,17 +44,38 @@
     
     //Change Mode: 
     bool changeMode(uint8_t *buf); 
-        
-    //
-    bool checkCommandAvilable(COMMAND_TYPE requestCommand);
+    
+    //Check Command Type using xbee buffer;
     uint8_t checkCommnadType(uint8_t* buf);
     
+    //Change Motor Speed
+    void changeSpeed(uint8_t* buf);
+    
     MODE nowMode;
     STATUS nowStatus;
     int packetLength;
     
+
     
     private:
+    //
+    VNH5019 _agzSheild;
+    
+    void manualMode();
+    int manualCount;
+    
+    //Auto Type 1 -> Random
+    void randomAuto();
+    int randomCount;
+    
+    
+    
+    //Auto Type 2 -> GPS 
+    void gpsAuto();
+    
+    
+    
+    
     };
     
 #endif
\ No newline at end of file