CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v10_T_Main

ジャパンオープン用のメインプログラム

Dependencies:   mbed AQM1602 HMC6352 PID

lib/adns_9800/adns_9800.h@38:67bc78f3c0ab, 2016-03-27 (annotated)

Committer:
lilac0112_1
Date:
Sun Mar 27 13:04:39 2016 +0000
Revision:
38:67bc78f3c0ab
Parent:
0:ea35c18c85fc 
JapanSoccerOpen2016 CatPot Program(main)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 0:ea35c18c85fc 1 /**
lilac0112_1 0:ea35c18c85fc 2 * @author Alexander Entinger, MSc / LXRobotics
lilac0112_1 0:ea35c18c85fc 3 * @brief this class acts as interface for accessing the adns-9800 sensor - based on https://github.com/mrjohnk/ADNS-9800
lilac0112_1 0:ea35c18c85fc 4 * @file adns_9800.h
lilac0112_1 0:ea35c18c85fc 5 */
lilac0112_1 0:ea35c18c85fc 6
lilac0112_1 0:ea35c18c85fc 7 #ifndef ADNS_9800_H_
lilac0112_1 0:ea35c18c85fc 8 #define ADNS_9800_H_
lilac0112_1 0:ea35c18c85fc 9
lilac0112_1 0:ea35c18c85fc 10 #include "mbed.h"
lilac0112_1 0:ea35c18c85fc 11
lilac0112_1 0:ea35c18c85fc 12 class adns_9800
lilac0112_1 0:ea35c18c85fc 13 {
lilac0112_1 0:ea35c18c85fc 14 public:
lilac0112_1 0:ea35c18c85fc 15 /**
lilac0112_1 0:ea35c18c85fc 16 * @brief Constructor
lilac0112_1 0:ea35c18c85fc 17 */
lilac0112_1 0:ea35c18c85fc 18 adns_9800(PinName mosi, PinName miso, PinName sclk, PinName ncs);
lilac0112_1 0:ea35c18c85fc 19
lilac0112_1 0:ea35c18c85fc 20 /**
lilac0112_1 0:ea35c18c85fc 21 * @brief Destructor
lilac0112_1 0:ea35c18c85fc 22 */
lilac0112_1 0:ea35c18c85fc 23 ~adns_9800();
lilac0112_1 0:ea35c18c85fc 24
lilac0112_1 0:ea35c18c85fc 25 /**
lilac0112_1 0:ea35c18c85fc 26 * @brief returns true if a motion has occured since the last readout
lilac0112_1 0:ea35c18c85fc 27 */
lilac0112_1 0:ea35c18c85fc 28 bool new_motion_data_available();
lilac0112_1 0:ea35c18c85fc 29
lilac0112_1 0:ea35c18c85fc 30 /**
lilac0112_1 0:ea35c18c85fc 31 * @brief retrieves the latest delta values
lilac0112_1 0:ea35c18c85fc 32 */
lilac0112_1 0:ea35c18c85fc 33 void get_delta_x_y(int16_t &delta_x, int16_t &delta_y);
lilac0112_1 0:ea35c18c85fc 34
lilac0112_1 0:ea35c18c85fc 35 private:
lilac0112_1 0:ea35c18c85fc 36 SPI m_spi;
lilac0112_1 0:ea35c18c85fc 37 DigitalOut m_ncs_pin;
lilac0112_1 0:ea35c18c85fc 38
lilac0112_1 0:ea35c18c85fc 39 /**
lilac0112_1 0:ea35c18c85fc 40 * @brief start and stop communication with the sensor by clearing/setting the ncs pin
lilac0112_1 0:ea35c18c85fc 41 */
lilac0112_1 0:ea35c18c85fc 42 void com_begin();
lilac0112_1 0:ea35c18c85fc 43 void com_end();
lilac0112_1 0:ea35c18c85fc 44 /**
lilac0112_1 0:ea35c18c85fc 45 * @brief provide read/write access to a adns register
lilac0112_1 0:ea35c18c85fc 46 */
lilac0112_1 0:ea35c18c85fc 47 uint8_t read_reg(uint8_t const address);
lilac0112_1 0:ea35c18c85fc 48 void write_reg(uint8_t const address, uint8_t const data);
lilac0112_1 0:ea35c18c85fc 49 /**
lilac0112_1 0:ea35c18c85fc 50 * @brief upload the firmware
lilac0112_1 0:ea35c18c85fc 51 */
lilac0112_1 0:ea35c18c85fc 52 void upload_firmware();
lilac0112_1 0:ea35c18c85fc 53 /**
lilac0112_1 0:ea35c18c85fc 54 * @brief starts the sensor up
lilac0112_1 0:ea35c18c85fc 55 */
lilac0112_1 0:ea35c18c85fc 56 void startup();
lilac0112_1 0:ea35c18c85fc 57 };
lilac0112_1 0:ea35c18c85fc 58
lilac0112_1 0:ea35c18c85fc 59 #endif