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Dependents: FreeFlyerROS_clarakhl FreeFlyerROS FreeFlyerROS
Fork of
ros_lib_kinetic
by 
Gary Servin
Diff: MbedHardware.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MbedHardware.h Sat Dec 31 00:48:34 2016 +0000
@@ -0,0 +1,60 @@
+/*
+ * MbedHardware
+ *
+ * Created on: Aug 17, 2011
+ * Author: nucho
+ */
+
+#ifndef ROS_MBED_HARDWARE_H_
+#define ROS_MBED_HARDWARE_H_
+
+#include "mbed.h"
+
+#include "BufferedSerial.h"
+
+class MbedHardware {
+ public:
+ MbedHardware(PinName tx, PinName rx, long baud = 57600)
+ :iostream(tx, rx){
+ baud_ = baud;
+ t.start();
+ }
+
+ MbedHardware()
+ :iostream(USBTX, USBRX) {
+ baud_ = 57600;
+ t.start();
+ }
+
+ void setBaud(long baud){
+ this->baud_= baud;
+ }
+
+ int getBaud(){return baud_;}
+
+ void init(){
+ iostream.baud(baud_);
+ }
+
+ int read(){
+ if (iostream.readable()) {
+ return iostream.getc();
+ } else {
+ return -1;
+ }
+ };
+ void write(uint8_t* data, int length) {
+ for (int i=0; i<length; i++)
+ iostream.putc(data[i]);
+ }
+
+ unsigned long time(){return t.read_ms();}
+
+protected:
+ BufferedSerial iostream;
+ long baud_;
+ Timer t;
+};
+
+
+#endif /* ROS_MBED_HARDWARE_H_ */