2019
Dependents: wheel_test6 wheel_test7 2019NHK_A_manual_red 2019NHK_A_manual_red
OmniPosition.h
- Committer:
- takeuchi
- Date:
- 2018-08-22
- Revision:
- 5:f8c3aeb4e65f
- Parent:
- 4:fc4c88fffef8
- Child:
- 6:f8dbbe93bc7b
File content as of revision 5:f8c3aeb4e65f:
#ifndef OMNI_POSITION_H #define OMNI_POSITION_H #include "mbed.h" #define OP_SERIAL_BUFFER_SIZE 9 #define OP_HEADER_FIRST_BYTE 72 #define OP_HEADER_SECOND_BYTE 42 #define OP_RECEIVE_FREQ 0.05 #define OP_SEND_FREQ 0.1 #define OP_DEFAULT_BAUD 115200 class OmniPosition : public RawSerial { public : OmniPosition(PinName serialTX, PinName serialRX); int getX(); int getY(); double getTheta(); void reset(); private : void readData(); void assemble(); void send(); int incrementCounter(int counter); int readCounter; int takeCounter; Ticker assembleTicker; Ticker sendTicker; int X, bfrX; int Y, bfrY; int thetaint; double theta, bfrTheta; char *buffer; char *data; bool headerCheck; int headerPoint; bool resetSend; uint8_t checksum; }; #endif