SRA_HenriquePovoa / Mbed OS Lidar_Rodas

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   BufferedSerial

Communication.cpp@9:76b59c5220f1, 2021-05-11 (annotated)

Committer:
henkiwan
Date:
Tue May 11 17:53:17 2021 +0000
Revision:
9:76b59c5220f1
Parent:
4:256f2cbe3fdd
Child:
13:20e124fba426
yah; ; temos de ver o log;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabiofaria 1:dc87724abce8 1 #include "Communication.h"
fabiofaria 1:dc87724abce8 2 #include "mbed.h"
fabiofaria 1:dc87724abce8 3 #include "MessageBuilder.h"
fabiofaria 1:dc87724abce8 4
henkiwan 9:76b59c5220f1 5 //const char max_len = 30;
fabiofaria 1:dc87724abce8 6 Serial *serial_object;
fabiofaria 1:dc87724abce8 7 MessageBuilder bin_msg;
fabiofaria 1:dc87724abce8 8
fabiofaria 1:dc87724abce8 9 void init_communication(Serial *serial_in)
fabiofaria 1:dc87724abce8 10 {
fabiofaria 1:dc87724abce8 11 serial_object = serial_in;
fabiofaria 1:dc87724abce8 12 }
fabiofaria 1:dc87724abce8 13
fabiofaria 1:dc87724abce8 14 void write_bytes(char *ptr, unsigned char len)
fabiofaria 1:dc87724abce8 15 {
fabiofaria 1:dc87724abce8 16 for(int i=0; i<len; i++)
fabiofaria 1:dc87724abce8 17 {
fabiofaria 1:dc87724abce8 18 serial_object->putc(ptr[i]);
fabiofaria 1:dc87724abce8 19 }
fabiofaria 1:dc87724abce8 20 }
fabiofaria 1:dc87724abce8 21
fabiofaria 1:dc87724abce8 22 void send_odometry(int value1, int value2, int ticks_left, int ticks_right, float x, float y, float theta)
fabiofaria 1:dc87724abce8 23 {
fabiofaria 1:dc87724abce8 24 bin_msg.reset();
fabiofaria 1:dc87724abce8 25 bin_msg.add('O');
fabiofaria 1:dc87724abce8 26 bin_msg.add(value1);
fabiofaria 1:dc87724abce8 27 bin_msg.add(value2);
fabiofaria 1:dc87724abce8 28 bin_msg.add(ticks_left);
fabiofaria 1:dc87724abce8 29 bin_msg.add(ticks_right);
fabiofaria 1:dc87724abce8 30 bin_msg.add(x);
fabiofaria 1:dc87724abce8 31 bin_msg.add(y);
fabiofaria 1:dc87724abce8 32 bin_msg.add(theta);
fabiofaria 1:dc87724abce8 33
fabiofaria 1:dc87724abce8 34 write_bytes(bin_msg.message, bin_msg.length());
ppovoa 4:256f2cbe3fdd 35 }
ppovoa 4:256f2cbe3fdd 36
ppovoa 4:256f2cbe3fdd 37 void send_map(float Mapa)
ppovoa 4:256f2cbe3fdd 38 {
ppovoa 4:256f2cbe3fdd 39 bin_msg.reset();
ppovoa 4:256f2cbe3fdd 40 bin_msg.add('O');
ppovoa 4:256f2cbe3fdd 41 bin_msg.add(Mapa);
ppovoa 4:256f2cbe3fdd 42
ppovoa 4:256f2cbe3fdd 43 write_bytes(bin_msg.message, bin_msg.length());
fabiofaria 1:dc87724abce8 44 }