Ryu Anzawa / OmniPosition

2021 NHK B

OmniPosition.h@16:893d1d146757, 2019-06-20 (annotated)

Committer:
highfieldsnj
Date:
Thu Jun 20 08:35:28 2019 +0000
Revision:
16:893d1d146757
Parent:
14:16ee2a638ecb 
oppai;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:58910ef3f2b0 1 #ifndef OMNI_POSITION_H
UCHITAKE 0:58910ef3f2b0 2 #define OMNI_POSITION_H
UCHITAKE 0:58910ef3f2b0 3
UCHITAKE 0:58910ef3f2b0 4 #include "mbed.h"
tanabe2000 9:222f7fcbd05a 5
UCHITAKE 13:913b647071a8 6 #define OP_SERIAL_BUFFER_SIZE 9
highfieldsnj 14:16ee2a638ecb 7 #define OP_HEADER_FIRST_BYTE 0xEE
highfieldsnj 14:16ee2a638ecb 8 #define OP_HEADER_SECOND_BYTE 0xFF
UCHITAKE 13:913b647071a8 9 #define OP_DEFAULT_BAUD 115200
UCHITAKE 0:58910ef3f2b0 10
UCHITAKE 13:913b647071a8 11 class OmniPosition : public RawSerial {
UCHITAKE 13:913b647071a8 12 public:
UCHITAKE 13:913b647071a8 13 OmniPosition(PinName serialTX, PinName serialRX);
takeuchi 1:0229fc98a26f 14
UCHITAKE 13:913b647071a8 15 int16_t getX();
UCHITAKE 13:913b647071a8 16 int16_t getY();
UCHITAKE 13:913b647071a8 17 float getTheta();
takeuchi 2:edd33d3ad0fd 18
UCHITAKE 13:913b647071a8 19 void reset();
takeuchi 2:edd33d3ad0fd 20
UCHITAKE 13:913b647071a8 21 private:
UCHITAKE 13:913b647071a8 22 DigitalOut debugled;
UCHITAKE 13:913b647071a8 23 void receiveByte();
UCHITAKE 13:913b647071a8 24 void checkData();
takeuchi 2:edd33d3ad0fd 25
UCHITAKE 13:913b647071a8 26 uint8_t buffer[9];
UCHITAKE 13:913b647071a8 27 uint8_t bufferSize;
UCHITAKE 13:913b647071a8 28 uint8_t bufferPoint;
UCHITAKE 13:913b647071a8 29 uint8_t receivedBytes;
UCHITAKE 13:913b647071a8 30 int16_t X;
UCHITAKE 13:913b647071a8 31 int16_t Y;
UCHITAKE 13:913b647071a8 32 int16_t theta;
UCHITAKE 0:58910ef3f2b0 33 };
UCHITAKE 0:58910ef3f2b0 34
UCHITAKE 13:913b647071a8 35 #endif
UCHITAKE 13:913b647071a8 36
highfieldsnj 14:16ee2a638ecb 37 #ifndef M_PI
highfieldsnj 16:893d1d146757 38 #define M_PI 3.141592653589793238462643383219502884
highfieldsnj 14:16ee2a638ecb 39 #endif
highfieldsnj 14:16ee2a638ecb 40