Henrique Cardoso
/
Lidar_Rodas
Experiencias do Henrique na quinta a noite
Communication.cpp
- Committer:
- ppovoa
- Date:
- 2021-05-06
- Revision:
- 4:256f2cbe3fdd
- Parent:
- 1:dc87724abce8
- Child:
- 9:76b59c5220f1
File content as of revision 4:256f2cbe3fdd:
#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()); } void send_map(float Mapa) { bin_msg.reset(); bin_msg.add('O'); bin_msg.add(Mapa); write_bytes(bin_msg.message, bin_msg.length()); }