Numchok Pimyai / rrrrr

rrrrr

Fork of Communication_Robot by BE@R lab

communication.h@0:0c88691e3904, 2015-03-01 (annotated)

Committer:
soulx
Date:
Sun Mar 01 06:28:01 2015 +0000
Revision:
0:0c88691e3904
Child:
1:1f6864549b92
create lib communication for robot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soulx 0:0c88691e3904 1 #ifndef ANDANTE_COMMUNICATION_H
soulx 0:0c88691e3904 2 #define ANDANTE_COMMUNICATION_H
soulx 0:0c88691e3904 3
soulx 0:0c88691e3904 4 #include "mbed.h"
soulx 0:0c88691e3904 5 #include "iSerial.h"
soulx 0:0c88691e3904 6 #include "protocol.h"
soulx 0:0c88691e3904 7 #include "Utilities.h"
soulx 0:0c88691e3904 8
soulx 0:0c88691e3904 9 class COMMUNICATION
soulx 0:0c88691e3904 10 {
soulx 0:0c88691e3904 11 private:
soulx 0:0c88691e3904 12 iSerial *serialCom;
soulx 0:0c88691e3904 13
soulx 0:0c88691e3904 14 public:
soulx 0:0c88691e3904 15 /** Send the MX28 packet over the serial half duplex connection.
soulx 0:0c88691e3904 16 *
soulx 0:0c88691e3904 17 * @param packet The MX28 packet.
soulx 0:0c88691e3904 18 * @return MX28_ERRBIT_NONE if succeeded, error code otherwise.
soulx 0:0c88691e3904 19 */
soulx 0:0c88691e3904 20 uint8_t CommunicatePacket(ANDANTE_PROTOCOL_PACKET *packet);
soulx 0:0c88691e3904 21
soulx 0:0c88691e3904 22 /** Create an MX28 servo object connected to the specified serial half duplex pins,
soulx 0:0c88691e3904 23 * with the specified baudrate.
soulx 0:0c88691e3904 24 *
soulx 0:0c88691e3904 25 * @param tx Send pin.
soulx 0:0c88691e3904 26 * @param rx Receive pin.
soulx 0:0c88691e3904 27 * @param baudrate The bus speed.
soulx 0:0c88691e3904 28 */
soulx 0:0c88691e3904 29 COMMUNICATION(PinName tx, PinName rx, uint32_t baudRate, uint16_t tx_buff=1000, uint16_t rx_buff=1000 );
soulx 0:0c88691e3904 30
soulx 0:0c88691e3904 31 /** Destroy an MX28 servo object
soulx 0:0c88691e3904 32 */
soulx 0:0c88691e3904 33 ~COMMUNICATION();
soulx 0:0c88691e3904 34 };
soulx 0:0c88691e3904 35
soulx 0:0c88691e3904 36 #endif // MX28_H