Diff: OmniPosition.h

Revision:

6:f8dbbe93bc7b

Parent:

5:f8c3aeb4e65f

Child:

7:73e542a88106

--- a/OmniPosition.h	Wed Aug 22 20:21:48 2018 +0900
+++ b/OmniPosition.h	Fri Aug 24 14:40:25 2018 +0900
@@ -2,8 +2,9 @@
 #define OMNI_POSITION_H
 
 #include "mbed.h"
+#include <vector>
 
-#define OP_SERIAL_BUFFER_SIZE 9
+#define OP_SERIAL_BUFFER_SIZE 8
 #define OP_HEADER_FIRST_BYTE 72
 #define OP_HEADER_SECOND_BYTE 42
 #define OP_RECEIVE_FREQ 0.05
@@ -14,37 +15,27 @@
     public :
         OmniPosition(PinName serialTX, PinName serialRX);
 
-        int getX();
-        int getY();
-        double getTheta();
+        int16_t getX();
+        int16_t getY();
+        float getTheta();
 
         void reset();
 
     private :
-        void readData();
+        void receiveByte();
+        void assembleLoop();
         void assemble();
         void send();
 
-        int incrementCounter(int counter);
-
-        int readCounter;
-        int takeCounter;
-        Ticker assembleTicker;
+        Thread thread;
+        std::vector<unsigned char> buf;
         Ticker sendTicker;
 
-        int X, bfrX;
-        int Y, bfrY;
-        int thetaint;
-        double theta, bfrTheta;
+        int16_t X;
+        int16_t Y;
+        int16_t theta;
 
-        char *buffer;
-        char *data;
-
-        bool headerCheck;
-        int headerPoint;
         bool resetSend;
-
-        uint8_t checksum;
 };
 
 #endif