File content as of revision 1:1d2eb2143108:

#include "PositionModule.h"
#include "Point.h"

PositionModule::PositionModule(PinName tx, PinName rx):_mouse(tx,rx) {
    _mouse.frequency(100000);
}

long PositionModule::getX() {
    updatePosition();
    return -_ypos;
}

long PositionModule::getY() {
    updatePosition();
    return -_xpos;    
}

void PositionModule::setZero() {
    char cmd[1] = {2};
    _mouse.write(4,cmd,1);
}

long PositionModule::getDistance() {
    updatePosition();
    return sqrt((long double)(getX()*getX())+(getY()*getY())); 
}

float PositionModule::getHeading() {
    return Point::XYToDegrees(Point(0,0),Point(getX(),getY()));
}

void PositionModule::updatePosition() {
    char * buf = new char[8];
     char cmd[1] = {3};
    _mouse.read(5,buf,8);
    _mouse.write(4,cmd,1);        
    _xpos = (long)((buf[0] << 24) + (buf[1] << 16) + ( buf[2] << 8) + buf[3]);
    _ypos = (long)((buf[4] << 24) + (buf[5] << 16) + ( buf[6] << 8) + buf[7]);
    wait(0.1);
}