sra-romi
Dependencies: BufferedSerial Matrix
Communication.cpp
- Committer:
- joaopsousa99
- Date:
- 2021-05-11
- Revision:
- 4:1defb279922a
- Parent:
- 1:dc87724abce8
File content as of revision 4:1defb279922a:
#include "Communication.h" #include "mbed.h" #include "MessageBuilder.h" const char max_len = 30; Serial *serial_object; MessageBuilder bin_msg; void init_communication(Serial *serial_in) { serial_object = serial_in; } void write_bytes(char *ptr, unsigned char len) { for(int i=0; i<len; i++) { serial_object->putc(ptr[i]); } } void send_odometry(int value1, int value2, int ticks_left, int ticks_right, float x, float y, float theta) { bin_msg.reset(); bin_msg.add('O'); bin_msg.add(value1); bin_msg.add(value2); bin_msg.add(ticks_left); bin_msg.add(ticks_right); bin_msg.add(x); bin_msg.add(y); bin_msg.add(theta); write_bytes(bin_msg.message, bin_msg.length()); }