Shinji Takano / OmniPosition

2019

Dependents:   wheel_test6 wheel_test7 2019NHK_A_manual_red 2019NHK_A_manual_red

OmniPosition.h@4:fc4c88fffef8, 2018-08-21 (annotated)

Committer:
takeuchi
Date:
Tue Aug 21 13:41:25 2018 +0900
Revision:
4:fc4c88fffef8
Parent:
3:47676abdf529
Child:
5:f8c3aeb4e65f
fix func

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 4:fc4c88fffef8 7 #define SERIAL_BUFFER_SIZE 9
takeuchi 4:fc4c88fffef8 8 #define HEADER_FIRST_BYTE 72
takeuchi 4:fc4c88fffef8 9 #define HEADER_SECOND_BYTE 42
takeuchi 4:fc4c88fffef8 10 #define RECEIVE_FREQ 0.05
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 4:fc4c88fffef8 18 int getX();
takeuchi 4:fc4c88fffef8 19 int getY();
takeuchi 4:fc4c88fffef8 20 double getTheta();
takeuchi 2:edd33d3ad0fd 21
takeuchi 2:edd33d3ad0fd 22 void reset();
takeuchi 2:edd33d3ad0fd 23
UCHITAKE 0:58910ef3f2b0 24 private :
takeuchi 1:0229fc98a26f 25 void readData();
takeuchi 1:0229fc98a26f 26 void assemble();
takeuchi 2:edd33d3ad0fd 27 void send();
takeuchi 1:0229fc98a26f 28
takeuchi 1:0229fc98a26f 29 CycleInt readCounter;
takeuchi 1:0229fc98a26f 30 CycleInt takeCounter;
takeuchi 2:edd33d3ad0fd 31 Ticker assembleTicker;
takeuchi 2:edd33d3ad0fd 32 Ticker sendTicker;
takeuchi 2:edd33d3ad0fd 33
takeuchi 4:fc4c88fffef8 34 int X, bfrX;
takeuchi 4:fc4c88fffef8 35 int Y, bfrY;
takeuchi 4:fc4c88fffef8 36 int thetaint;
takeuchi 4:fc4c88fffef8 37 double theta, bfrTheta;
takeuchi 1:0229fc98a26f 38
takeuchi 4:fc4c88fffef8 39 char *buffer;
takeuchi 4:fc4c88fffef8 40 char *data;
takeuchi 1:0229fc98a26f 41
takeuchi 1:0229fc98a26f 42 bool headerCheck;
takeuchi 1:0229fc98a26f 43 int headerPoint;
takeuchi 2:edd33d3ad0fd 44 bool resetSend;
takeuchi 4:fc4c88fffef8 45
takeuchi 4:fc4c88fffef8 46 uint8_t checksum;
UCHITAKE 0:58910ef3f2b0 47 };
UCHITAKE 0:58910ef3f2b0 48
takeuchi 1:0229fc98a26f 49 #endif
takeuchi 4:fc4c88fffef8 50