Francisco Santos / Mbed 2 deprecated SRA_VFF

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Dependencies:   mbed Matrix

Communication.cpp@1:2716ea33958b, 2019-05-22 (annotated)

Committer:
PedroMartins96
Date:
Wed May 22 09:51:53 2019 +0000
Revision:
1:2716ea33958b
Parent:
0:a7324f51348d 
123456479876954;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PedroMartins96 0:a7324f51348d 1 #include "Communication.h"
PedroMartins96 0:a7324f51348d 2 #include "mbed.h"
PedroMartins96 0:a7324f51348d 3 #include "MessageBuilder.h"
PedroMartins96 1:2716ea33958b 4
PedroMartins96 0:a7324f51348d 5 const char max_len = 30;
PedroMartins96 0:a7324f51348d 6 Serial *serial_object;
PedroMartins96 0:a7324f51348d 7 MessageBuilder bin_msg;
PedroMartins96 0:a7324f51348d 8
PedroMartins96 0:a7324f51348d 9 void init_communication(Serial *serial_in)
PedroMartins96 0:a7324f51348d 10 {
PedroMartins96 0:a7324f51348d 11 serial_object = serial_in;
PedroMartins96 0:a7324f51348d 12 }
PedroMartins96 0:a7324f51348d 13
PedroMartins96 0:a7324f51348d 14 void write_bytes(char *ptr, unsigned char len)
PedroMartins96 0:a7324f51348d 15 {
PedroMartins96 0:a7324f51348d 16 for(int i=0; i<len; i++)
PedroMartins96 0:a7324f51348d 17 {
PedroMartins96 0:a7324f51348d 18 serial_object->putc(ptr[i]);
PedroMartins96 0:a7324f51348d 19 }
PedroMartins96 0:a7324f51348d 20 }
PedroMartins96 0:a7324f51348d 21
PedroMartins96 0:a7324f51348d 22 void send_odometry(int value1, int value2, int ticks_left, int ticks_right, float x, float y, float theta)
PedroMartins96 0:a7324f51348d 23 {
PedroMartins96 0:a7324f51348d 24 bin_msg.reset();
PedroMartins96 0:a7324f51348d 25 bin_msg.add('O');
PedroMartins96 0:a7324f51348d 26 bin_msg.add(value1);
PedroMartins96 0:a7324f51348d 27 bin_msg.add(value2);
PedroMartins96 0:a7324f51348d 28 bin_msg.add(ticks_left);
PedroMartins96 0:a7324f51348d 29 bin_msg.add(ticks_right);
PedroMartins96 0:a7324f51348d 30 bin_msg.add(x);
PedroMartins96 0:a7324f51348d 31 bin_msg.add(y);
PedroMartins96 0:a7324f51348d 32 bin_msg.add(theta);
PedroMartins96 0:a7324f51348d 33
PedroMartins96 0:a7324f51348d 34 write_bytes(bin_msg.message, bin_msg.length());
PedroMartins96 0:a7324f51348d 35 }
PedroMartins96 0:a7324f51348d 36