myOled.h

00001 #ifndef _MY_OLED_H_
00002 #define _MY_OLED_H_
00003 
00004 #include "mbed.h"
00005 #include "Adafruit_SSD1306.h"
00006 #include "odom.h"
00007 #include "type.h"
00008 
00009 class My_Oled : public Odom_Abstract, Adafruit_SSD1306_I2c
00010 {
00011     private:
00012         bool display_flag_;
00013             
00014     public:
00015         My_Oled(Odom *odom, I2C &i2c) : Odom_Abstract(odom), Adafruit_SSD1306_I2c(i2c, D10){
00016             clearDisplay();
00017             display_flag_ = true;
00018         }
00019         
00020     private:
00021         //Overlap function
00022         virtual void loop(){
00023             static uint32_t counter = 0;
00024             if(display_flag_ == true && get_enable_oled() == false){
00025                 setTextCursor(0,0);
00026                 clearDisplay();
00027                 display(); 
00028                 display_flag_ = false;
00029             }
00030             
00031             if(get_enable_oled() && (++counter % 20) == 0){
00032                 display_flag_ = true;
00033                 
00034                 setTextCursor(0,0);
00035                 printf("Court color -> %s\n\n", (get_court_color() ? "BLUE" : "RED")); 
00036                 printf("odom  x -> %8.4f\n", get_pose().x());
00037                 printf("      y -> %8.4f\n", get_pose().y());
00038                 printf("      a -> %8.4f\n", get_pose().z());
00039                 printf("drift x -> %8.4f\n", get_drift().x());
00040                 printf("      y -> %8.4f\n", get_drift().y());
00041                 printf("      a -> %8.4f\n", get_drift().z());
00042                 display();  
00043             }
00044         }
00045 
00046 };
00047 #endif