NagaokaRoboticsClub_mbedTeam
kinect受信用ライブラリ
Revision 0:cb6fcdae7ecf, committed 2018-08-28
- Comitter:
- skouki
- Date:
- Tue Aug 28 04:43:00 2018 +0000
- Commit message:
- ver2
Changed in this revision
| kinectRX.cpp | Show annotated file Show diff for this revision Revisions of this file |
| kinectRX.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/kinectRX.cpp Tue Aug 28 04:43:00 2018 +0000
@@ -0,0 +1,30 @@
+#include "kinectRX.h"
+KinectRX::KinectRX():
+ fep(FEP_TX,FEP_RX,FEP_NUM)
+{
+}
+
+
+void KinectRX::receive_data(){
+ len = 5;
+ while(true){
+ count ++;
+ temp = fep.read(data,len);
+ if(temp == 0) {
+ count = 0;
+ break;
+ }
+ if(count > 10){
+ count = 0;
+ break;
+ }
+ }
+}
+
+int KinectRX::get_mode(){
+ return(data[4]);
+}
+
+int KinectRX::get_distance(){
+ return(data[0] * 1000 + data[1] * 100 + data[2] * 10 + data[3]);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/kinectRX.h Tue Aug 28 04:43:00 2018 +0000
@@ -0,0 +1,23 @@
+#ifndef MBED_KINECTRX_H
+#define MBED_KINECTRX_H
+
+#include "mbed.h"
+#include "FEP.h"
+#include "cstdint"
+#include "pin_config.h"
+
+class KinectRX{
+public:
+ KinectRX();
+ void receive_data();
+ int get_mode();
+ int get_distance();
+
+private:
+ char data[5];
+ FEP fep;
+ int count;
+ uint8_t temp,len;
+};
+
+#endif