2021 NHK B
Diff: OmniPosition.h
- Revision:
- 3:47676abdf529
- Parent:
- 2:edd33d3ad0fd
- Child:
- 4:fc4c88fffef8
--- a/OmniPosition.h Sun Jul 01 16:39:13 2018 +0900 +++ b/OmniPosition.h Tue Jul 31 08:30:35 2018 +0000 @@ -4,10 +4,10 @@ #include "mbed.h" #include "CycleInt.h" -#define SERIAL_BUFFER_SIZE 6 -#define HEADER_FIRST_BYTE 72 -#define HEADER_SECOND_BYTE 42 -#define RECEIVE_FREQ 0.005 +#define SERIAL_BUFFER_SIZE 15 +#define HEADER_FIRST_BYTE 0xAA +#define HEADER_SECOND_BYTE 0x00 +#define RECEIVE_FREQ 0.01 #define SEND_FREQ 0.1 #define DEFAULT_BAUD 115200 @@ -15,8 +15,8 @@ public : OmniPosition(PinName serialTX, PinName serialRX); - int getX(); - int getY(); + double getAngle(); + void reset(); @@ -30,11 +30,12 @@ Ticker assembleTicker; Ticker sendTicker; - int X; - int Y; + double angle; + int angleInt; - char *buffer; - char *data; + + uint8_t *buffer; + uint8_t *data; bool headerCheck; int headerPoint;