This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
MbedHardware.h@1:098e75fd5ad2, 2011-10-16 (annotated)
- Committer:
- nucho
- Date:
- Sun Oct 16 07:17:43 2011 +0000
- Revision:
- 1:098e75fd5ad2
- Parent:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
This program supported the revision of 143 of rosserial.
And the bug fix of receive of array data.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 0:06fc856e99ca | 1 | /* |
nucho | 0:06fc856e99ca | 2 | * MbedHardware |
nucho | 0:06fc856e99ca | 3 | * |
nucho | 0:06fc856e99ca | 4 | * Created on: Aug 17, 2011 |
nucho | 0:06fc856e99ca | 5 | * Author: nucho |
nucho | 0:06fc856e99ca | 6 | */ |
nucho | 0:06fc856e99ca | 7 | |
nucho | 0:06fc856e99ca | 8 | #ifndef MBEDHARDWARE_H_ |
nucho | 0:06fc856e99ca | 9 | #define MBEDHARDWARE_H_ |
nucho | 0:06fc856e99ca | 10 | |
nucho | 0:06fc856e99ca | 11 | #include"mbed.h" |
nucho | 1:098e75fd5ad2 | 12 | #include"MODSERIAL.h" |
nucho | 1:098e75fd5ad2 | 13 | |
nucho | 0:06fc856e99ca | 14 | |
nucho | 0:06fc856e99ca | 15 | class MbedHardware { |
nucho | 0:06fc856e99ca | 16 | public: |
nucho | 1:098e75fd5ad2 | 17 | MbedHardware(MODSERIAL* io , int baud= 57600) |
nucho | 0:06fc856e99ca | 18 | :iostream(*io){ |
nucho | 0:06fc856e99ca | 19 | baud_ = baud; |
nucho | 0:06fc856e99ca | 20 | t.start(); |
nucho | 0:06fc856e99ca | 21 | } |
nucho | 0:06fc856e99ca | 22 | MbedHardware() |
nucho | 0:06fc856e99ca | 23 | :iostream(USBTX, USBRX) { |
nucho | 0:06fc856e99ca | 24 | baud_ = 57600; |
nucho | 0:06fc856e99ca | 25 | t.start(); |
nucho | 0:06fc856e99ca | 26 | } |
nucho | 0:06fc856e99ca | 27 | MbedHardware(MbedHardware& h) |
nucho | 0:06fc856e99ca | 28 | :iostream(h.iostream) { |
nucho | 0:06fc856e99ca | 29 | this->baud_ = h.baud_; |
nucho | 0:06fc856e99ca | 30 | |
nucho | 0:06fc856e99ca | 31 | t.start(); |
nucho | 0:06fc856e99ca | 32 | } |
nucho | 0:06fc856e99ca | 33 | |
nucho | 1:098e75fd5ad2 | 34 | void setBaud(int baud) { |
nucho | 0:06fc856e99ca | 35 | this->baud_= baud; |
nucho | 0:06fc856e99ca | 36 | } |
nucho | 0:06fc856e99ca | 37 | |
nucho | 0:06fc856e99ca | 38 | int getBaud() { |
nucho | 0:06fc856e99ca | 39 | return baud_; |
nucho | 0:06fc856e99ca | 40 | } |
nucho | 0:06fc856e99ca | 41 | |
nucho | 0:06fc856e99ca | 42 | void init() { |
nucho | 0:06fc856e99ca | 43 | iostream.baud(baud_); |
nucho | 0:06fc856e99ca | 44 | } |
nucho | 0:06fc856e99ca | 45 | |
nucho | 0:06fc856e99ca | 46 | int read() { |
nucho | 0:06fc856e99ca | 47 | if (iostream.readable()) { |
nucho | 0:06fc856e99ca | 48 | return iostream.getc(); |
nucho | 0:06fc856e99ca | 49 | } else { |
nucho | 0:06fc856e99ca | 50 | return -1; |
nucho | 0:06fc856e99ca | 51 | } |
nucho | 0:06fc856e99ca | 52 | }; |
nucho | 0:06fc856e99ca | 53 | void write(uint8_t* data, int length) { |
nucho | 0:06fc856e99ca | 54 | for (int i=0; i<length; i++) iostream.putc(data[i]); |
nucho | 0:06fc856e99ca | 55 | } |
nucho | 0:06fc856e99ca | 56 | |
nucho | 0:06fc856e99ca | 57 | unsigned long time() { |
nucho | 0:06fc856e99ca | 58 | return t.read_ms(); |
nucho | 0:06fc856e99ca | 59 | } |
nucho | 0:06fc856e99ca | 60 | |
nucho | 0:06fc856e99ca | 61 | protected: |
nucho | 1:098e75fd5ad2 | 62 | int baud_; |
nucho | 1:098e75fd5ad2 | 63 | MODSERIAL iostream; |
nucho | 0:06fc856e99ca | 64 | Timer t; |
nucho | 0:06fc856e99ca | 65 | }; |
nucho | 0:06fc856e99ca | 66 | |
nucho | 0:06fc856e99ca | 67 | |
nucho | 0:06fc856e99ca | 68 | #endif /* MBEDHARDWARE_H_ */ |