Diff: measuring_wheel.h

Revision:

0:505dd5510add

Child:

1:3f01bf4d7e56

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/measuring_wheel.h	Mon Jul 02 08:38:07 2018 +0000
@@ -0,0 +1,52 @@
+#ifndef MEASURING_WHEEL_H
+#define MEASURING_WHEEL_H
+
+#include "mbed.h"
+#include "QEI.h"
+#define PI 3.141592653589793
+
+class MeasuringWheel
+{
+public :
+    MeasuringWheel(PinName channel1_1, PinName channel1_2, PinName channel2_1, PinName channel2_2, PinName channel3_1, PinName channel3_2);
+//    bool
+
+    bool wheelDiameter(float diameter1, float diameter2, float diameter3);
+
+    float getOutX();
+    float getOutY();
+
+
+private :
+    float diameter[3];
+    float radian[3];
+    float wheel[3],r,X,Y;
+    void computeXY();
+     
+
+    QEI w1;
+    QEI w2;
+    QEI w3;
+    Ticker ticker;
+    
+};
+
+
+class TransmissionXY
+{
+
+public:
+    TransmissionXY(PinName serialTX, PinName serialRX);
+    bool sendMeasuring( MeasuringWheel &request);
+    void resetpisithon();
+private:
+
+    uint16_t X_, Y_,ofsetX, ofsetY;
+    char upBitX, upBitY;
+    char downBitX,downBitY;
+    Serial mainMicon;
+    char get;
+    DigitalOut led;
+      
+};
+#endif
\ No newline at end of file