Diff: OmniPosition.h

Revision:

2:edd33d3ad0fd

Parent:

1:0229fc98a26f

Child:

3:47676abdf529

--- a/OmniPosition.h	Sat Jun 30 14:23:07 2018 +0900
+++ b/OmniPosition.h	Sun Jul 01 16:39:13 2018 +0900
@@ -4,28 +4,41 @@
 #include "mbed.h"
 #include "CycleInt.h"
 
-#define SERIAL_BUFFER_SIZE 8
-#define HEADER_FIRST_BYTE 0xAA
-#define HEADER_SECOND_BYTE 0xBB
-#define RECEIVE_FREQ (1.0/500.0)
+#define SERIAL_BUFFER_SIZE 6
+#define HEADER_FIRST_BYTE 72
+#define HEADER_SECOND_BYTE 42
+#define RECEIVE_FREQ 0.005
+#define SEND_FREQ 0.1
 #define DEFAULT_BAUD 115200
 
 class OmniPosition : public RawSerial {
     public :
         OmniPosition(PinName serialTX, PinName serialRX);
-    
+
+        int getX();
+        int getY();
+
+        void reset();
+
     private :
         void readData();
         void assemble();
+        void send();
 
         CycleInt readCounter;
         CycleInt takeCounter;
-        Ticker ticker;
+        Ticker assembleTicker;
+        Ticker sendTicker;
+
+        int X;
+        int Y;
 
         char *buffer;
+        char *data;
 
         bool headerCheck;
         int headerPoint;
+        bool resetSend;
 };
 
 #endif