library for omnidirectional planar positioning system
Dependents: measuring_wheel 2018NHK_gakugaku_robo 2018NHK_gaku_ver2
OmniPosition.h
- Committer:
- UCHITAKE
- Date:
- 2018-10-06
- Revision:
- 10:a21aa2bd05c5
- Parent:
- 9:222f7fcbd05a
File content as of revision 10:a21aa2bd05c5:
#ifndef OMNI_POSITION_H #define OMNI_POSITION_H #include "mbed.h" #define OP_SERIAL_BUFFER_SIZE 9 #define OP_HEADER_FIRST_BYTE 72 #define OP_HEADER_SECOND_BYTE 42 #define OP_DEFAULT_BAUD 115200 class OmniPosition : public RawSerial { public: OmniPosition(PinName serialTX, PinName serialRX); int16_t getX(); int16_t getY(); float getTheta(); void reset(); private: DigitalOut debugled; void receiveByte(); void checkData(); uint8_t buffer[9]; uint8_t bufferSize; uint8_t bufferPoint; uint8_t receivedBytes; int16_t X; int16_t Y; int16_t theta; }; #endif