Henrique Cardoso
/
Lidar_Rodas
Experiencias do Henrique na quinta a noite
Diff: Communication.cpp
- Revision:
- 1:dc87724abce8
- Child:
- 4:256f2cbe3fdd
diff -r 2b691d200d6f -r dc87724abce8 Communication.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Communication.cpp Thu Apr 11 09:51:28 2019 +0000 @@ -0,0 +1,35 @@ +#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