João Pedro Castilho
/
DEEC_STM32_for_Romi_and_Rplidar
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Diff: Communication.cpp
- Revision:
- 6:d66df9640147
- Parent:
- 5:22ad3005bc11
diff -r 22ad3005bc11 -r d66df9640147 Communication.cpp
--- a/Communication.cpp Fri Apr 30 12:23:33 2021 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,35 +0,0 @@
-#include "Communication.h"
-#include "mbed.h"
-#include "MessageBuilder.h"
-
-const char max_len = 30;
-Serial *serial_object;
-MessageBuilder bin_msg;
-
-void init_communication(Serial *serial_in)
-{
- serial_object = serial_in;
-}
-
-void write_bytes(char *ptr, unsigned char len)
-{
- for(int i=0; i<len; i++)
- {
- serial_object->putc(ptr[i]);
- }
-}
-
-void send_odometry(int value1, int value2, int ticks_left, int ticks_right, float x, float y, float theta)
-{
- bin_msg.reset();
- bin_msg.add('O');
- bin_msg.add(value1);
- bin_msg.add(value2);
- bin_msg.add(ticks_left);
- bin_msg.add(ticks_right);
- bin_msg.add(x);
- bin_msg.add(y);
- bin_msg.add(theta);
-
- write_bytes(bin_msg.message, bin_msg.length());
-}
\ No newline at end of file