similar robotis communication v1.0 in this lib use for protocol to control and diagnotic robot
Fork of Communication_Robot by
communication.h
- Committer:
- soulx
- Date:
- 2015-03-02
- Revision:
- 3:2f334f0cee75
- Parent:
- 2:56c1de1612dd
File content as of revision 3:2f334f0cee75:
#ifndef ANDANTE_COMMUNICATION_H #define ANDANTE_COMMUNICATION_H #include "mbed.h" #include "iSerial.h" #include "protocol.h" #include "Utilities.h" //#define ANDANTE_DEBUG class COMMUNICATION { private: Serial *pc; iSerial *serialCom; public: /** Send the MX28 packet over the serial half duplex connection. * * @param packet The MX28 packet. * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. */ uint8_t sendCommunicatePacket(ANDANTE_PROTOCOL_PACKET *packet); uint8_t receiveCommunicatePacket(ANDANTE_PROTOCOL_PACKET *packet); /** Create an MX28 servo object connected to the specified serial half duplex pins, * with the specified baudrate. * * @param tx Send pin. * @param rx Receive pin. * @param baudrate The bus speed. */ COMMUNICATION(PinName tx, PinName rx, uint32_t baudRate, uint16_t tx_buff=1000, uint16_t rx_buff=1000 ); /** Destroy an MX28 servo object */ ~COMMUNICATION(); }; #endif // MX28_H