Shinji Takano / OmniPosition

2019

Dependents:   wheel_test6 wheel_test7 2019NHK_A_manual_red 2019NHK_A_manual_red

OmniPosition.h@3:47676abdf529, 2018-07-31 (annotated)

Committer:
tanabe2000
Date:
Tue Jul 31 08:30:35 2018 +0000
Revision:
3:47676abdf529
Parent:
2:edd33d3ad0fd
Child:
4:fc4c88fffef8
ver2.1;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:58910ef3f2b0 1 #ifndef OMNI_POSITION_H
UCHITAKE 0:58910ef3f2b0 2 #define OMNI_POSITION_H
UCHITAKE 0:58910ef3f2b0 3
UCHITAKE 0:58910ef3f2b0 4 #include "mbed.h"
UCHITAKE 0:58910ef3f2b0 5 #include "CycleInt.h"
UCHITAKE 0:58910ef3f2b0 6
tanabe2000 3:47676abdf529 7 #define SERIAL_BUFFER_SIZE 15
tanabe2000 3:47676abdf529 8 #define HEADER_FIRST_BYTE 0xAA
tanabe2000 3:47676abdf529 9 #define HEADER_SECOND_BYTE 0x00
tanabe2000 3:47676abdf529 10 #define RECEIVE_FREQ 0.01
takeuchi 2:edd33d3ad0fd 11 #define SEND_FREQ 0.1
takeuchi 1:0229fc98a26f 12 #define DEFAULT_BAUD 115200
takeuchi 1:0229fc98a26f 13
takeuchi 1:0229fc98a26f 14 class OmniPosition : public RawSerial {
UCHITAKE 0:58910ef3f2b0 15 public :
takeuchi 1:0229fc98a26f 16 OmniPosition(PinName serialTX, PinName serialRX);
takeuchi 2:edd33d3ad0fd 17
tanabe2000 3:47676abdf529 18 double getAngle();
tanabe2000 3:47676abdf529 19
takeuchi 2:edd33d3ad0fd 20
takeuchi 2:edd33d3ad0fd 21 void reset();
takeuchi 2:edd33d3ad0fd 22
UCHITAKE 0:58910ef3f2b0 23 private :
takeuchi 1:0229fc98a26f 24 void readData();
takeuchi 1:0229fc98a26f 25 void assemble();
takeuchi 2:edd33d3ad0fd 26 void send();
takeuchi 1:0229fc98a26f 27
takeuchi 1:0229fc98a26f 28 CycleInt readCounter;
takeuchi 1:0229fc98a26f 29 CycleInt takeCounter;
takeuchi 2:edd33d3ad0fd 30 Ticker assembleTicker;
takeuchi 2:edd33d3ad0fd 31 Ticker sendTicker;
takeuchi 2:edd33d3ad0fd 32
tanabe2000 3:47676abdf529 33 double angle;
tanabe2000 3:47676abdf529 34 int angleInt;
takeuchi 1:0229fc98a26f 35
tanabe2000 3:47676abdf529 36
tanabe2000 3:47676abdf529 37 uint8_t *buffer;
tanabe2000 3:47676abdf529 38 uint8_t *data;
takeuchi 1:0229fc98a26f 39
takeuchi 1:0229fc98a26f 40 bool headerCheck;
takeuchi 1:0229fc98a26f 41 int headerPoint;
takeuchi 2:edd33d3ad0fd 42 bool resetSend;
UCHITAKE 0:58910ef3f2b0 43 };
UCHITAKE 0:58910ef3f2b0 44
takeuchi 1:0229fc98a26f 45 #endif