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classes.h@26:f891ff6beb33, 2018-05-17 (annotated)

Committer:
lucasfontenla
Date:
Thu May 17 23:08:43 2018 +0000
Revision:
26:f891ff6beb33
Parent:
24:92f612ca218b
Child:
27:3bbc354adea6
INTERPOLA??O LINEAR FUNCIONANDO

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lucasfontenla 24:92f612ca218b 1 #define tx PC_10
lucasfontenla 24:92f612ca218b 2 #define rx PC_11
lucasfontenla 24:92f612ca218b 3
lucasfontenla 26:f891ff6beb33 4 #define sendTime 0.5
lucasfontenla 24:92f612ca218b 5
lucasfontenla 24:92f612ca218b 6 Serial ihm(tx, rx); //tx e rx (D1 e D0)
lucasfontenla 24:92f612ca218b 7
lucasfontenla 24:92f612ca218b 8 class IHM {
lucasfontenla 24:92f612ca218b 9 int n;
lucasfontenla 24:92f612ca218b 10 string buffer;
lucasfontenla 24:92f612ca218b 11 char buffer_char[8];
lucasfontenla 24:92f612ca218b 12
lucasfontenla 24:92f612ca218b 13 public:
lucasfontenla 24:92f612ca218b 14 int debug;
lucasfontenla 24:92f612ca218b 15
lucasfontenla 24:92f612ca218b 16 // PUBLIC FUNCTIONS ----------------------------------------------------------------------------------------------------------------------------------------
lucasfontenla 24:92f612ca218b 17 void send_position(float X, float Y, float Z){
lucasfontenla 24:92f612ca218b 18 //printf("Position sent\n\r");
lucasfontenla 24:92f612ca218b 19 buffer = "";
lucasfontenla 24:92f612ca218b 20
lucasfontenla 24:92f612ca218b 21 buffer.append("p");
lucasfontenla 24:92f612ca218b 22
lucasfontenla 26:f891ff6beb33 23 n = sprintf(buffer_char, "X%.2f", X);
lucasfontenla 24:92f612ca218b 24 buffer.append(buffer_char);
lucasfontenla 26:f891ff6beb33 25 n = sprintf(buffer_char, "Y%.2f", Y);
lucasfontenla 24:92f612ca218b 26 buffer.append(buffer_char);
lucasfontenla 26:f891ff6beb33 27 n = sprintf(buffer_char, "Z%.2f", Z);
lucasfontenla 24:92f612ca218b 28 buffer.append(buffer_char);
lucasfontenla 24:92f612ca218b 29
lucasfontenla 24:92f612ca218b 30 send(buffer);
lucasfontenla 24:92f612ca218b 31 }
lucasfontenla 26:f891ff6beb33 32
lucasfontenla 26:f891ff6beb33 33 void action_complete(void){
lucasfontenla 26:f891ff6beb33 34 send("a");
lucasfontenla 26:f891ff6beb33 35 }
lucasfontenla 24:92f612ca218b 36
lucasfontenla 24:92f612ca218b 37 private:
lucasfontenla 24:92f612ca218b 38
lucasfontenla 24:92f612ca218b 39 // PRIVATE FUNCTIONS ----------------------------------------------------------------------------------------------------------------------------------------
lucasfontenla 24:92f612ca218b 40 void send(string msg){
lucasfontenla 24:92f612ca218b 41 msg.append("x");
lucasfontenla 24:92f612ca218b 42
lucasfontenla 24:92f612ca218b 43 for(int i = 0; i < msg.length(); i++){
lucasfontenla 24:92f612ca218b 44 ihm.putc(msg[i]);
lucasfontenla 26:f891ff6beb33 45 wait_ms(15);
lucasfontenla 24:92f612ca218b 46 }
lucasfontenla 26:f891ff6beb33 47 printf("Sent\n\r");
lucasfontenla 24:92f612ca218b 48 }
lucasfontenla 24:92f612ca218b 49 };