Diff: OmniPosition.h

Revision:

3:47676abdf529

Parent:

2:edd33d3ad0fd

Child:

4:fc4c88fffef8

--- a/OmniPosition.h	Sun Jul 01 16:39:13 2018 +0900
+++ b/OmniPosition.h	Tue Jul 31 08:30:35 2018 +0000
@@ -4,10 +4,10 @@
 #include "mbed.h"
 #include "CycleInt.h"
 
-#define SERIAL_BUFFER_SIZE 6
-#define HEADER_FIRST_BYTE 72
-#define HEADER_SECOND_BYTE 42
-#define RECEIVE_FREQ 0.005
+#define SERIAL_BUFFER_SIZE 15
+#define HEADER_FIRST_BYTE 0xAA
+#define HEADER_SECOND_BYTE 0x00
+#define RECEIVE_FREQ 0.01
 #define SEND_FREQ 0.1
 #define DEFAULT_BAUD 115200
 
@@ -15,8 +15,8 @@
     public :
         OmniPosition(PinName serialTX, PinName serialRX);
 
-        int getX();
-        int getY();
+        double getAngle();
+
 
         void reset();
 
@@ -30,11 +30,12 @@
         Ticker assembleTicker;
         Ticker sendTicker;
 
-        int X;
-        int Y;
+        double angle;
+        int angleInt;
 
-        char *buffer;
-        char *data;
+
+        uint8_t *buffer;
+        uint8_t *data;
 
         bool headerCheck;
         int headerPoint;