library for omnidirectional planar positioning system
Dependents: measuring_wheel 2018NHK_gakugaku_robo 2018NHK_gaku_ver2
OmniPosition.h
00001 #ifndef OMNI_POSITION_H 00002 #define OMNI_POSITION_H 00003 00004 #include "mbed.h" 00005 00006 #define OP_SERIAL_BUFFER_SIZE 9 00007 #define OP_HEADER_FIRST_BYTE 72 00008 #define OP_HEADER_SECOND_BYTE 42 00009 #define OP_DEFAULT_BAUD 115200 00010 00011 class OmniPosition : public RawSerial { 00012 public: 00013 OmniPosition(PinName serialTX, PinName serialRX); 00014 00015 int16_t getX(); 00016 int16_t getY(); 00017 float getTheta(); 00018 00019 void reset(); 00020 00021 private: 00022 DigitalOut debugled; 00023 void receiveByte(); 00024 void checkData(); 00025 00026 uint8_t buffer[9]; 00027 uint8_t bufferSize; 00028 uint8_t bufferPoint; 00029 uint8_t receivedBytes; 00030 int16_t X; 00031 int16_t Y; 00032 int16_t theta; 00033 }; 00034 00035 #endif 00036
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