Shinji Takano / OmniPosition

2019

Dependents:   wheel_test6 wheel_test7 2019NHK_A_manual_red 2019NHK_A_manual_red

OmniPosition.h@2:edd33d3ad0fd, 2018-07-01 (annotated)

Committer:
takeuchi
Date:
Sun Jul 01 16:39:13 2018 +0900
Revision:
2:edd33d3ad0fd
Parent:
1:0229fc98a26f
Child:
3:47676abdf529
working

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
takeuchi 2:edd33d3ad0fd 7 #define SERIAL_BUFFER_SIZE 6
takeuchi 2:edd33d3ad0fd 8 #define HEADER_FIRST_BYTE 72
takeuchi 2:edd33d3ad0fd 9 #define HEADER_SECOND_BYTE 42
takeuchi 2:edd33d3ad0fd 10 #define RECEIVE_FREQ 0.005
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
takeuchi 2:edd33d3ad0fd 18 int getX();
takeuchi 2:edd33d3ad0fd 19 int getY();
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
takeuchi 2:edd33d3ad0fd 33 int X;
takeuchi 2:edd33d3ad0fd 34 int Y;
takeuchi 1:0229fc98a26f 35
takeuchi 1:0229fc98a26f 36 char *buffer;
takeuchi 2:edd33d3ad0fd 37 char *data;
takeuchi 1:0229fc98a26f 38
takeuchi 1:0229fc98a26f 39 bool headerCheck;
takeuchi 1:0229fc98a26f 40 int headerPoint;
takeuchi 2:edd33d3ad0fd 41 bool resetSend;
UCHITAKE 0:58910ef3f2b0 42 };
UCHITAKE 0:58910ef3f2b0 43
takeuchi 1:0229fc98a26f 44 #endif