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Dependencies: mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic
myOled.h@8:80708bacb5b5, 2018-12-20 (annotated)
- Committer:
- nakedt555
- Date:
- Thu Dec 20 20:54:35 2018 +0000
- Revision:
- 8:80708bacb5b5
- Parent:
- 4:cf1a4e503974
amcl kakunin
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nakedt555 | 4:cf1a4e503974 | 1 | #ifndef _MY_OLED_H_ |
nakedt555 | 4:cf1a4e503974 | 2 | #define _MY_OLED_H_ |
nakedt555 | 4:cf1a4e503974 | 3 | |
nakedt555 | 4:cf1a4e503974 | 4 | #include "mbed.h" |
nakedt555 | 4:cf1a4e503974 | 5 | #include "Adafruit_SSD1306.h" |
nakedt555 | 4:cf1a4e503974 | 6 | #include "odom.h" |
nakedt555 | 4:cf1a4e503974 | 7 | #include "type.h" |
nakedt555 | 4:cf1a4e503974 | 8 | |
nakedt555 | 4:cf1a4e503974 | 9 | class My_Oled : public Odom_Abstract, Adafruit_SSD1306_I2c |
nakedt555 | 4:cf1a4e503974 | 10 | { |
nakedt555 | 4:cf1a4e503974 | 11 | private: |
nakedt555 | 8:80708bacb5b5 | 12 | bool display_flag_; |
nakedt555 | 8:80708bacb5b5 | 13 | |
nakedt555 | 4:cf1a4e503974 | 14 | public: |
nakedt555 | 4:cf1a4e503974 | 15 | My_Oled(Odom *odom, I2C &i2c) : Odom_Abstract(odom), Adafruit_SSD1306_I2c(i2c, D10){ |
nakedt555 | 4:cf1a4e503974 | 16 | clearDisplay(); |
nakedt555 | 8:80708bacb5b5 | 17 | display_flag_ = true; |
nakedt555 | 4:cf1a4e503974 | 18 | } |
nakedt555 | 4:cf1a4e503974 | 19 | |
nakedt555 | 4:cf1a4e503974 | 20 | private: |
nakedt555 | 4:cf1a4e503974 | 21 | //Overlap function |
nakedt555 | 4:cf1a4e503974 | 22 | virtual void loop(){ |
nakedt555 | 4:cf1a4e503974 | 23 | static uint32_t counter = 0; |
nakedt555 | 8:80708bacb5b5 | 24 | if(display_flag_ == true && get_enable_oled() == false){ |
nakedt555 | 8:80708bacb5b5 | 25 | setTextCursor(0,0); |
nakedt555 | 8:80708bacb5b5 | 26 | clearDisplay(); |
nakedt555 | 8:80708bacb5b5 | 27 | display(); |
nakedt555 | 8:80708bacb5b5 | 28 | display_flag_ = false; |
nakedt555 | 8:80708bacb5b5 | 29 | } |
nakedt555 | 8:80708bacb5b5 | 30 | |
nakedt555 | 8:80708bacb5b5 | 31 | if(get_enable_oled() && (++counter % 20) == 0){ |
nakedt555 | 8:80708bacb5b5 | 32 | display_flag_ = true; |
nakedt555 | 8:80708bacb5b5 | 33 | |
nakedt555 | 4:cf1a4e503974 | 34 | setTextCursor(0,0); |
nakedt555 | 4:cf1a4e503974 | 35 | printf("Court color -> %s\n\n", (get_court_color() ? "BLUE" : "RED")); |
nakedt555 | 4:cf1a4e503974 | 36 | printf("odom x -> %8.4f\n", get_pose().x()); |
nakedt555 | 4:cf1a4e503974 | 37 | printf(" y -> %8.4f\n", get_pose().y()); |
nakedt555 | 4:cf1a4e503974 | 38 | printf(" a -> %8.4f\n", get_pose().z()); |
nakedt555 | 4:cf1a4e503974 | 39 | printf("drift x -> %8.4f\n", get_drift().x()); |
nakedt555 | 4:cf1a4e503974 | 40 | printf(" y -> %8.4f\n", get_drift().y()); |
nakedt555 | 4:cf1a4e503974 | 41 | printf(" a -> %8.4f\n", get_drift().z()); |
nakedt555 | 4:cf1a4e503974 | 42 | display(); |
nakedt555 | 4:cf1a4e503974 | 43 | } |
nakedt555 | 4:cf1a4e503974 | 44 | } |
nakedt555 | 4:cf1a4e503974 | 45 | |
nakedt555 | 4:cf1a4e503974 | 46 | }; |
nakedt555 | 4:cf1a4e503974 | 47 | #endif |