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?
User | Revision | Line number | New 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 |