Diff: MatlabComm.h

Revision:

0:08d5f31c6ddc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MatlabComm.h	Tue Nov 01 02:31:36 2016 +0000
@@ -0,0 +1,28 @@
+#include "QEI.h"
+#include "MODSERIAL.h"
+#include "stdio.h" //sscanf
+#include "mbed.h"
+#include "math.h" // abs
+
+// Serial communications with Matlab, to control the robot and make a design.
+// Communications sent:
+// %i; Pulses sent, followed by a \r\n;
+// This will be sent on every call of MatlabComm.
+// In case of data, MatlabComm will read the Serial input buffer until it is empty, or until it has read a number
+
+class MatlabComm {
+    public: 
+        MatlabComm(PinName MotorDirectionPin, PinName MotorSpeedPin, PinName EncoderChannelA, PinName EncoderChannelB);
+        void Step();
+    private: 
+        PwmOut M_SpeedPin;
+        DigitalOut M_DirectionPin;
+        QEI M_Encoder;
+        MODSERIAL pc;
+        void read();
+        void write();
+        void flush_buffer();
+        static const int buffer_max_index=29;
+        char char_buffer[30];
+        int buffer_index;
+    };
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