Arsapol Manamunchaiyaporn / Communication_Robot

before test

Fork of Communication_Robot by Betago

communication.h@1:1f6864549b92, 2015-03-01 (annotated)

Committer:
soulx
Date:
Sun Mar 01 08:48:23 2015 +0000
Revision:
1:1f6864549b92
Parent:
0:0c88691e3904
Child:
2:56c1de1612dd
create communication with protocol similar robotis protocol; -receive; -not send

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soulx 0:0c88691e3904 1 #ifndef ANDANTE_COMMUNICATION_H
soulx 0:0c88691e3904 2 #define ANDANTE_COMMUNICATION_H
soulx 0:0c88691e3904 3
soulx 0:0c88691e3904 4 #include "mbed.h"
soulx 0:0c88691e3904 5 #include "iSerial.h"
soulx 0:0c88691e3904 6 #include "protocol.h"
soulx 0:0c88691e3904 7 #include "Utilities.h"
soulx 0:0c88691e3904 8
soulx 1:1f6864549b92 9 #define ANDANTE_DEBUG
soulx 1:1f6864549b92 10
soulx 1:1f6864549b92 11
soulx 0:0c88691e3904 12 class COMMUNICATION
soulx 0:0c88691e3904 13 {
soulx 0:0c88691e3904 14 private:
soulx 0:0c88691e3904 15 iSerial *serialCom;
soulx 0:0c88691e3904 16
soulx 0:0c88691e3904 17 public:
soulx 0:0c88691e3904 18 /** Send the MX28 packet over the serial half duplex connection.
soulx 0:0c88691e3904 19 *
soulx 0:0c88691e3904 20 * @param packet The MX28 packet.
soulx 0:0c88691e3904 21 * @return MX28_ERRBIT_NONE if succeeded, error code otherwise.
soulx 0:0c88691e3904 22 */
soulx 1:1f6864549b92 23 uint8_t sendCommunicatePacket(ANDANTE_PROTOCOL_PACKET *packet);
soulx 1:1f6864549b92 24 uint8_t receiveCommunicatePacket(ANDANTE_PROTOCOL_PACKET *packet);
soulx 0:0c88691e3904 25
soulx 0:0c88691e3904 26 /** Create an MX28 servo object connected to the specified serial half duplex pins,
soulx 0:0c88691e3904 27 * with the specified baudrate.
soulx 0:0c88691e3904 28 *
soulx 0:0c88691e3904 29 * @param tx Send pin.
soulx 0:0c88691e3904 30 * @param rx Receive pin.
soulx 0:0c88691e3904 31 * @param baudrate The bus speed.
soulx 0:0c88691e3904 32 */
soulx 0:0c88691e3904 33 COMMUNICATION(PinName tx, PinName rx, uint32_t baudRate, uint16_t tx_buff=1000, uint16_t rx_buff=1000 );
soulx 0:0c88691e3904 34
soulx 0:0c88691e3904 35 /** Destroy an MX28 servo object
soulx 0:0c88691e3904 36 */
soulx 0:0c88691e3904 37 ~COMMUNICATION();
soulx 0:0c88691e3904 38 };
soulx 0:0c88691e3904 39
soulx 0:0c88691e3904 40 #endif // MX28_H