TrekkingPhoenix / Mbed 2 deprecated TrekkingControllerV1-4_WinterChallenge20

Ironcup Mar 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

Protocol/receiver.h@17:34fa73413afb, 2016-05-02 (annotated)

Committer:
drelliak
Date:
Mon May 02 00:58:20 2016 +0000
Revision:
17:34fa73413afb
Added the magnetometer command

Who changed what in which revision?

UserRevisionLine numberNew contents of line
drelliak 17:34fa73413afb 1 /**
drelliak 17:34fa73413afb 2 @file receiver.h
drelliak 17:34fa73413afb 3 @brief Receiver side functions declarations.
drelliak 17:34fa73413afb 4 */
drelliak 17:34fa73413afb 5
drelliak 17:34fa73413afb 6 /*
drelliak 17:34fa73413afb 7 Copyright 2016 Erik Perillo <erik.perillo@gmail.com>
drelliak 17:34fa73413afb 8
drelliak 17:34fa73413afb 9 This file is part of piranha-ptc.
drelliak 17:34fa73413afb 10
drelliak 17:34fa73413afb 11 This is free software: you can redistribute it and/or modify
drelliak 17:34fa73413afb 12 it under the terms of the GNU General Public License as published by
drelliak 17:34fa73413afb 13 the Free Software Foundation, either version 3 of the License, or
drelliak 17:34fa73413afb 14 (at your option) any later version.
drelliak 17:34fa73413afb 15
drelliak 17:34fa73413afb 16 This is distributed in the hope that it will be useful,
drelliak 17:34fa73413afb 17 but WITHOUT ANY WARRANTY; without even the implied warranty of
drelliak 17:34fa73413afb 18 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
drelliak 17:34fa73413afb 19 See the GNU General Public License for more details.
drelliak 17:34fa73413afb 20
drelliak 17:34fa73413afb 21 You should have received a copy of the GNU General Public License
drelliak 17:34fa73413afb 22 along with this. If not, see <http://www.gnu.org/licenses/>.
drelliak 17:34fa73413afb 23 */
drelliak 17:34fa73413afb 24
drelliak 17:34fa73413afb 25
drelliak 17:34fa73413afb 26 #ifndef __PIRANHA_RCV_PROTOCOL_H__
drelliak 17:34fa73413afb 27 #define __PIRANHA_RCV_PROTOCOL_H__
drelliak 17:34fa73413afb 28
drelliak 17:34fa73413afb 29 #include "protocol.h"
drelliak 17:34fa73413afb 30 #include "mbed.h"
drelliak 17:34fa73413afb 31 #include "EthernetInterface.h"
drelliak 17:34fa73413afb 32
drelliak 17:34fa73413afb 33 #define TEST
drelliak 17:34fa73413afb 34
drelliak 17:34fa73413afb 35 class Receiver
drelliak 17:34fa73413afb 36 {
drelliak 17:34fa73413afb 37
drelliak 17:34fa73413afb 38 #ifdef TEST
drelliak 17:34fa73413afb 39 public:
drelliak 17:34fa73413afb 40 #else
drelliak 17:34fa73413afb 41 protected:
drelliak 17:34fa73413afb 42 #endif
drelliak 17:34fa73413afb 43 UDPSocket sock;
drelliak 17:34fa73413afb 44 char message[MSG_BUF_LEN];
drelliak 17:34fa73413afb 45 Endpoint sender_addr;
drelliak 17:34fa73413afb 46
drelliak 17:34fa73413afb 47 float un_scale(uint16_t value, float min, float max);
drelliak 17:34fa73413afb 48 uint8_t get_header();
drelliak 17:34fa73413afb 49 uint16_t get_raw_val(int pos=0);
drelliak 17:34fa73413afb 50 float get_val(float min, float max, int pos=0);
drelliak 17:34fa73413afb 51 void get_vals(float min, float max, float* vals, int size);
drelliak 17:34fa73413afb 52
drelliak 17:34fa73413afb 53 public:
drelliak 17:34fa73413afb 54 Receiver();
drelliak 17:34fa73413afb 55 Receiver(Endpoint sender_addr, const UDPSocket& sock);
drelliak 17:34fa73413afb 56 Receiver(Endpoint sender_addr, int sock_port=RECEIVER_PORT, int timeout=1);
drelliak 17:34fa73413afb 57
drelliak 17:34fa73413afb 58 void set_sender_addr(const Endpoint& sender_addr);
drelliak 17:34fa73413afb 59 void set_socket(const UDPSocket& sock);
drelliak 17:34fa73413afb 60 void set_socket(int port=RECEIVER_PORT, int timeout=1);
drelliak 17:34fa73413afb 61 Endpoint get_sender_addr();
drelliak 17:34fa73413afb 62 UDPSocket get_socket();
drelliak 17:34fa73413afb 63
drelliak 17:34fa73413afb 64 bool receive();
drelliak 17:34fa73413afb 65 uint8_t get_msg();
drelliak 17:34fa73413afb 66 float get_ang_ref();
drelliak 17:34fa73413afb 67 float get_gnd_vel();
drelliak 17:34fa73413afb 68 void get_jog_vel(float* period, float* ratio);
drelliak 17:34fa73413afb 69 void get_pid_params(float* params);
drelliak 17:34fa73413afb 70 void get_mag_calib(float* params);
drelliak 17:34fa73413afb 71 };
drelliak 17:34fa73413afb 72
drelliak 17:34fa73413afb 73 #endif
drelliak 17:34fa73413afb 74