Diff: Bluetooth/IHM_Bluetooth.h

Revision:

2:1103f5d61035

Child:

3:07109a6bb472

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Bluetooth/IHM_Bluetooth.h	Wed Mar 11 14:24:48 2020 +0000
@@ -0,0 +1,50 @@
+#ifndef BT_H
+#define BT_H
+
+#include "mbed.h"
+#include "math.h"
+
+#define STARTBYTE 240
+#define STOPBYTE  15
+
+#define KPBYTE    30
+#define KIBYTE    45
+#define KDBYTE    60
+#define SPCMDBYTE 75
+#define CAMXBYTE  100
+#define POSBYTE   130
+#define LMBYTE    150
+#define RMBYTE    165
+#define ERRORBYTE 180
+#define CERRBYTE  195
+#define SGRABYTE  210
+
+class IHM_Bluetooth
+{
+public:
+    IHM_Bluetooth();
+    void run(void);
+    
+private:
+    // FONCTIONS
+    void transmitBlu (void); 
+    void receptionBlu (void); 
+    void formatTrameT(short reg, int val); 
+    int get_val_pc(short reg);
+    void TrameCAM(int CAM1, int CAM2);
+    void TramePos(int left, int barc, int right);
+    void automate_Tx(void);
+    
+    // VARIABLES
+    unsigned int blueRxBuffer[6];                                                  // Buffer de réception de la liaison série bluetooth
+    unsigned char blueTxBuffer[6];                    // Buffer de transmission de la liaison série bluetooth
+    unsigned int paramRx[4];                                          //0 KP   1 KI   2 KD   3 SPEED
+    short cb_lm;
+    short cb_rm;
+    short cb_err;
+    short cb_cerr;
+    short cb_speed;
+    Ticker timer;
+};
+
+#endif // BT_H