RaceSubCar/Handler.cpp

#include "Handler.h"

void Handler::ZigBeeRx_Handler(uint8_t* mar)
{
	switch (mar[1])
	{
	case 0x02:        //<2F><><EFBFBD><EFBFBD>
		MainCarRx_Handler(mar);       //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD>
		break;
	case 0x03:        //<2F><>բ<EFBFBD><D5A2>־<EFBFBD><D6BE>
		break;
	case 0x04:        //LED<45><44>ʾ<EFBFBD><CABE>־<EFBFBD><EFBFBD><EFA3A8><EFBFBD>޷<EFBFBD><DEB7>أ<EFBFBD>
		break;
	case 0x05:        //<2F><><EFBFBD>峵<EFBFBD><E5B3B5><EFBFBD><EFBFBD>־<EFBFBD><D6BE>B
		break;
	case 0x06:        //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><D6BE>
		break;
	case 0x07:        //<2F><><EFBFBD>ⱨ<EFBFBD><E2B1A8><EFBFBD><EFBFBD>־<EFBFBD><D6BE>
		break;
	case 0x08:        //TFT<46><54>ʾ<EFBFBD><CABE>־<EFBFBD><D6BE>B
		break;
	case 0x09:        //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><D6BE>
		break;
	case 0x0A:        //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD><DFB3><EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><D6BE>
		break;
	case 0x0B:        //TFT<46><54>ʾ<EFBFBD><CABE>־<EFBFBD><D6BE>A
		break;
	case 0x0C:        //ETCϵͳ<CFB5><CDB3>־<EFBFBD><D6BE>
		break;
	case 0x0D:        //<2F><><EFBFBD>峵<EFBFBD><E5B3B5><EFBFBD><EFBFBD>־<EFBFBD><D6BE>A
		break;
	case 0x0E:        //<2F><>ͨ<EFBFBD>Ʊ<EFBFBD>ע<EFBFBD><D7A2>A 
		break;
	case 0x0F:        //<2F><>ͨ<EFBFBD>Ʊ<EFBFBD>־<EFBFBD><D6BE>B
		break;
	default:
		break;
	}
}

void Handler::OpenMVRx_Handler(uint8_t* mac)
{
	switch (mac[2])
	{
	case 0x91:        //<2F><><EFBFBD><EFBFBD>

		break;
	case 0x92:        //<2F><>ά<EFBFBD><CEAC>ʶ<EFBFBD><CAB6>

		break;
	default:
		break;
	}
}

void Handler::MainCarRx_Handler(uint8_t* com)
{
	switch (com[2])
	{
	case 0x01:                                         //ֹͣ
		DCMotor.Stop();
		break;
	case 0x02:                                        //ǰ<><C7B0>
		DCMotor.Go(com[3], (com[4] + (com[5] << 8)));
		ZigBee_back[2] = 0x03;
		break;
	case 0x03:                                        //<2F><><EFBFBD><EFBFBD>
		DCMotor.Back(com[3], (com[4] + (com[5] << 8)));
		ZigBee_back[2] = 0x03;
		break;
	case 0x04:                                        //<2F><>ת
		DCMotor.TurnLeft(com[3]);
		ZigBee_back[2] = 0x02;
		break;
	case 0x05:                                        //<2F><>ת
		DCMotor.TurnRight(com[3]);
		ZigBee_back[2] = 0x02;
		break;
	case 0x06:                                        //ѭ<><D1AD>
		DCMotor.CarTrack(com[3]);
		ZigBee_back[2] = 0x00;
		break;
	case 0x07:                                        //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		Command.Judgment(Command.command01);                        //<2F><><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD>                
		ExtSRAMInterface.ExMem_Write_Bytes(Command.command01, 8);   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		break;
	case 0x10:                                       //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		infrare_com[0] = com[3];
		infrare_com[1] = com[4];
		infrare_com[2] = com[5];
		break;
	case 0x11:                                       //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		infrare_com[3] = com[3];
		infrare_com[4] = com[4];
		infrare_com[5] = com[5];
		break;
	case 0x12:                                        //<2F><><EFBFBD>ͺ<EFBFBD><CDBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		Infrare.Transmition(infrare_com, 6);
		break;
	case 0x20:                                        //<2F><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>
		if (com[3] == 0x01)
			LED.LeftTurnOn();
		else
			LED.LeftTurnOff();
		if (com[4] == 0x01)
			LED.RightTurnOn();
		else
			LED.RightTurnOff();
		break;
	case 0x30:                                        //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		if (com[3] == 0x01)
			BEEP.TurnOn();
		else
			BEEP.TurnOff();
		break;
	case 0x40:                                        //<2F><><EFBFBD><EFBFBD>
		break;
	case 0x50:                                        //LCDͼƬ<CDBC>Ϸ<EFBFBD>ҳ
		Command.Judgment(Command.command13);
		ExtSRAMInterface.ExMem_Write_Bytes(Command.command13, 8);
		break;
	case 0x51:                                        //LCDͼƬ<CDBC>·<EFBFBD>ҳ
		Command.Judgment(Command.command14);
		ExtSRAMInterface.ExMem_Write_Bytes(Command.command14, 8);
		break;
	case 0x61:                                        //<2F><>Դ<EFBFBD><D4B4>һ<EFBFBD><D2BB>
		Infrare.Transmition(Command.HW_Dimming1, 4);
		break;
	case 0x62:                                        //<2F><>Դ<EFBFBD>Ӷ<EFBFBD><D3B6><EFBFBD>
		Infrare.Transmition(Command.HW_Dimming2, 4);
		break;
	case 0x63:                                        //<2F><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		Infrare.Transmition(Command.HW_Dimming3, 4);
		break;
	case 0x80:                                        //<2F>ӳ<EFBFBD><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD>                                       
		if (com[3] == 0x01)
		{
			sendflag = 0x01;                             //<2F>ϴ<EFBFBD><CFB4>ӳ<EFBFBD><D3B3><EFBFBD><EFBFBD><EFBFBD>
		}
		else
		{
			sendflag = 0x00;                              //<2F>ر<EFBFBD><D8B1>ϴӳ<CFB4><D3B3><EFBFBD><EFBFBD><EFBFBD>
		}
	case 0x91:
		if (com[3] == 0x03)                               //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		{
			//Servoangle_control(com[4]);
		}
		break;
	default:
		break;
	}
}

void Handler::Key_0()
{
	BEEP.TurnOn();
	delay(50);
	BEEP.TurnOff();
	OpenMVOpt::Servo_Control(-60);
	OpenMVOpt::OpenMV_Track(50);
	DCMotor.TurnLeft_Code(80, 760);
}

void Handler::Key_1()
{
	BEEP.TurnOn();
	delay(50);
	BEEP.TurnOff();
	delay(50);
	OpenMVOpt::Servo_Control(0);
}

void Handler::Key_2()
{
	DebugOpt::DebugRun();
}

void Handler::Key_3()
{
	DebugOpt::DebugServo();
}

void Handler::KEY_Handler(uint8_t k_value)
{
	switch (k_value)
	{
	case 1:
		Key_0();
		break;
	case 2:
		Key_1();
		break;
	case 3:
		Key_2();
		break;
	case 4:
		Key_3();
		break;
	}
}