This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of autonomous Robot Android by
MicroBridge/PacketBuffer/PacketBuffer.h@17:f0a973f17917, 2013-05-03 (annotated)
- Committer:
- chrigelburri
- Date:
- Fri May 03 06:30:46 2013 +0000
- Revision:
- 17:f0a973f17917
bastel mit adb
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chrigelburri | 17:f0a973f17917 | 1 | |
chrigelburri | 17:f0a973f17917 | 2 | |
chrigelburri | 17:f0a973f17917 | 3 | /** @file PacketBuffer.h |
chrigelburri | 17:f0a973f17917 | 4 | * @brief Packet Buffer |
chrigelburri | 17:f0a973f17917 | 5 | */ |
chrigelburri | 17:f0a973f17917 | 6 | |
chrigelburri | 17:f0a973f17917 | 7 | #ifndef PacketBuffer_H |
chrigelburri | 17:f0a973f17917 | 8 | #define PacketBuffer_H |
chrigelburri | 17:f0a973f17917 | 9 | |
chrigelburri | 17:f0a973f17917 | 10 | #include "mbed.h" |
chrigelburri | 17:f0a973f17917 | 11 | |
chrigelburri | 17:f0a973f17917 | 12 | typedef struct |
chrigelburri | 17:f0a973f17917 | 13 | { |
chrigelburri | 17:f0a973f17917 | 14 | char *buf; |
chrigelburri | 17:f0a973f17917 | 15 | int size; |
chrigelburri | 17:f0a973f17917 | 16 | } PacketBufInf; |
chrigelburri | 17:f0a973f17917 | 17 | |
chrigelburri | 17:f0a973f17917 | 18 | class PacketBuffer { |
chrigelburri | 17:f0a973f17917 | 19 | public: |
chrigelburri | 17:f0a973f17917 | 20 | /** init Stack class |
chrigelburri | 17:f0a973f17917 | 21 | * @param num buffering packet num |
chrigelburri | 17:f0a973f17917 | 22 | * @param packet_size size of packet(max size) |
chrigelburri | 17:f0a973f17917 | 23 | */ |
chrigelburri | 17:f0a973f17917 | 24 | PacketBuffer(int num,int packet_size); |
chrigelburri | 17:f0a973f17917 | 25 | ~PacketBuffer(); |
chrigelburri | 17:f0a973f17917 | 26 | |
chrigelburri | 17:f0a973f17917 | 27 | /** put to Packet buffer |
chrigelburri | 17:f0a973f17917 | 28 | * @param packet packet data |
chrigelburri | 17:f0a973f17917 | 29 | * @param len packet length |
chrigelburri | 17:f0a973f17917 | 30 | * @return put length |
chrigelburri | 17:f0a973f17917 | 31 | */ |
chrigelburri | 17:f0a973f17917 | 32 | int PutPacket(char *packet, int len); |
chrigelburri | 17:f0a973f17917 | 33 | |
chrigelburri | 17:f0a973f17917 | 34 | /** get from ring buffer |
chrigelburri | 17:f0a973f17917 | 35 | * @param packet packet data |
chrigelburri | 17:f0a973f17917 | 36 | * @return get length |
chrigelburri | 17:f0a973f17917 | 37 | */ |
chrigelburri | 17:f0a973f17917 | 38 | int GetPacket(char *packet); |
chrigelburri | 17:f0a973f17917 | 39 | |
chrigelburri | 17:f0a973f17917 | 40 | void clear(); |
chrigelburri | 17:f0a973f17917 | 41 | int available(); |
chrigelburri | 17:f0a973f17917 | 42 | int use(); |
chrigelburri | 17:f0a973f17917 | 43 | |
chrigelburri | 17:f0a973f17917 | 44 | private: |
chrigelburri | 17:f0a973f17917 | 45 | PacketBufInf *p_buf; |
chrigelburri | 17:f0a973f17917 | 46 | int max_num,max_size; |
chrigelburri | 17:f0a973f17917 | 47 | int addr_w, addr_r; |
chrigelburri | 17:f0a973f17917 | 48 | }; |
chrigelburri | 17:f0a973f17917 | 49 | #endif |