Pipe Inpection Robot
capstone_finish
Dependencies: BufferedSerial motor_sn7544
MbedHardware.h@3:2a3664dc6634, 2019-08-13 (annotated)
- Committer:
- Jeonghoon
- Date:
- Tue Aug 13 05:53:22 2019 +0000
- Revision:
- 3:2a3664dc6634
- Child:
- 9:ccd662244071
with ROS;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Jeonghoon | 3:2a3664dc6634 | 1 | /* |
| Jeonghoon | 3:2a3664dc6634 | 2 | * MbedHardware |
| Jeonghoon | 3:2a3664dc6634 | 3 | * |
| Jeonghoon | 3:2a3664dc6634 | 4 | * Created on: Aug 17, 2011 |
| Jeonghoon | 3:2a3664dc6634 | 5 | * Author: nucho |
| Jeonghoon | 3:2a3664dc6634 | 6 | */ |
| Jeonghoon | 3:2a3664dc6634 | 7 | |
| Jeonghoon | 3:2a3664dc6634 | 8 | #ifndef ROS_MBED_HARDWARE_H_ |
| Jeonghoon | 3:2a3664dc6634 | 9 | #define ROS_MBED_HARDWARE_H_ |
| Jeonghoon | 3:2a3664dc6634 | 10 | |
| Jeonghoon | 3:2a3664dc6634 | 11 | #include "mbed.h" |
| Jeonghoon | 3:2a3664dc6634 | 12 | |
| Jeonghoon | 3:2a3664dc6634 | 13 | #include "BufferedSerial.h" |
| Jeonghoon | 3:2a3664dc6634 | 14 | |
| Jeonghoon | 3:2a3664dc6634 | 15 | class MbedHardware { |
| Jeonghoon | 3:2a3664dc6634 | 16 | public: |
| Jeonghoon | 3:2a3664dc6634 | 17 | MbedHardware(PinName tx, PinName rx, long baud = 57600) |
| Jeonghoon | 3:2a3664dc6634 | 18 | :iostream(tx, rx){ |
| Jeonghoon | 3:2a3664dc6634 | 19 | baud_ = baud; |
| Jeonghoon | 3:2a3664dc6634 | 20 | t.start(); |
| Jeonghoon | 3:2a3664dc6634 | 21 | } |
| Jeonghoon | 3:2a3664dc6634 | 22 | |
| Jeonghoon | 3:2a3664dc6634 | 23 | MbedHardware() |
| Jeonghoon | 3:2a3664dc6634 | 24 | :iostream(USBTX, USBRX) { |
| Jeonghoon | 3:2a3664dc6634 | 25 | baud_ = 57600; |
| Jeonghoon | 3:2a3664dc6634 | 26 | t.start(); |
| Jeonghoon | 3:2a3664dc6634 | 27 | } |
| Jeonghoon | 3:2a3664dc6634 | 28 | |
| Jeonghoon | 3:2a3664dc6634 | 29 | void setBaud(long baud){ |
| Jeonghoon | 3:2a3664dc6634 | 30 | this->baud_= baud; |
| Jeonghoon | 3:2a3664dc6634 | 31 | } |
| Jeonghoon | 3:2a3664dc6634 | 32 | |
| Jeonghoon | 3:2a3664dc6634 | 33 | int getBaud(){return baud_;} |
| Jeonghoon | 3:2a3664dc6634 | 34 | |
| Jeonghoon | 3:2a3664dc6634 | 35 | void init(){ |
| Jeonghoon | 3:2a3664dc6634 | 36 | iostream.baud(baud_); |
| Jeonghoon | 3:2a3664dc6634 | 37 | } |
| Jeonghoon | 3:2a3664dc6634 | 38 | |
| Jeonghoon | 3:2a3664dc6634 | 39 | int read(){ |
| Jeonghoon | 3:2a3664dc6634 | 40 | if (iostream.readable()) { |
| Jeonghoon | 3:2a3664dc6634 | 41 | return iostream.getc(); |
| Jeonghoon | 3:2a3664dc6634 | 42 | } else { |
| Jeonghoon | 3:2a3664dc6634 | 43 | return -1; |
| Jeonghoon | 3:2a3664dc6634 | 44 | } |
| Jeonghoon | 3:2a3664dc6634 | 45 | }; |
| Jeonghoon | 3:2a3664dc6634 | 46 | void write(uint8_t* data, int length) { |
| Jeonghoon | 3:2a3664dc6634 | 47 | for (int i=0; i<length; i++) |
| Jeonghoon | 3:2a3664dc6634 | 48 | iostream.putc(data[i]); |
| Jeonghoon | 3:2a3664dc6634 | 49 | } |
| Jeonghoon | 3:2a3664dc6634 | 50 | |
| Jeonghoon | 3:2a3664dc6634 | 51 | unsigned long time(){return t.read_ms();} |
| Jeonghoon | 3:2a3664dc6634 | 52 | |
| Jeonghoon | 3:2a3664dc6634 | 53 | protected: |
| Jeonghoon | 3:2a3664dc6634 | 54 | BufferedSerial iostream; |
| Jeonghoon | 3:2a3664dc6634 | 55 | long baud_; |
| Jeonghoon | 3:2a3664dc6634 | 56 | Timer t; |
| Jeonghoon | 3:2a3664dc6634 | 57 | }; |
| Jeonghoon | 3:2a3664dc6634 | 58 | |
| Jeonghoon | 3:2a3664dc6634 | 59 | |
| Jeonghoon | 3:2a3664dc6634 | 60 | #endif /* ROS_MBED_HARDWARE_H_ */ |