Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

MbedHardware.h

Committer:
jvfausto
Date:
21 months ago
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5

File content as of revision 2:ab8333331642:

/*
 * MbedHardware
 *
 *  Created on: Aug 17, 2011
 *      Author: nucho
 */

#ifndef ROS_MBED_HARDWARE_H_
#define ROS_MBED_HARDWARE_H_

#include "mbed.h"

#include "BufferedSerial.h"

class MbedHardware {
  public:
    MbedHardware(PinName tx, PinName rx, long baud = 57600)
      :iostream(tx, rx){
      baud_ = baud;
      t.start();
    }

    MbedHardware()
      :iostream(USBTX, USBRX) {
        baud_ = 57600;
        t.start();
    }

    void setBaud(long baud){
      this->baud_= baud;
    }

    int getBaud(){return baud_;}

    void init(){
        iostream.baud(baud_);
    }

    int read(){
        if (iostream.readable()) {
            return iostream.getc();
        } else {
            return -1;
        }
    };
    void write(uint8_t* data, int length) {
        for (int i=0; i<length; i++)
             iostream.putc(data[i]);
    }

    unsigned long time(){return t.read_ms();}

protected:
    BufferedSerial iostream;
    long baud_;
    Timer t;
};


#endif /* ROS_MBED_HARDWARE_H_ */