Diff: OmniPosition.h

Revision:

4:fc4c88fffef8

Parent:

3:47676abdf529

Child:

5:f8c3aeb4e65f

--- a/OmniPosition.h	Tue Jul 31 08:30:35 2018 +0000
+++ b/OmniPosition.h	Tue Aug 21 13:41:25 2018 +0900
@@ -4,10 +4,10 @@
 #include "mbed.h"
 #include "CycleInt.h"
 
-#define SERIAL_BUFFER_SIZE 15
-#define HEADER_FIRST_BYTE 0xAA
-#define HEADER_SECOND_BYTE 0x00
-#define RECEIVE_FREQ 0.01
+#define SERIAL_BUFFER_SIZE 9
+#define HEADER_FIRST_BYTE 72
+#define HEADER_SECOND_BYTE 42
+#define RECEIVE_FREQ 0.05
 #define SEND_FREQ 0.1
 #define DEFAULT_BAUD 115200
 
@@ -15,8 +15,9 @@
     public :
         OmniPosition(PinName serialTX, PinName serialRX);
 
-        double getAngle();
-
+        int getX();
+        int getY();
+        double getTheta();
 
         void reset();
 
@@ -30,16 +31,20 @@
         Ticker assembleTicker;
         Ticker sendTicker;
 
-        double angle;
-        int angleInt;
+        int X, bfrX;
+        int Y, bfrY;
+        int thetaint;
+        double theta, bfrTheta;
 
-
-        uint8_t *buffer;
-        uint8_t *data;
+        char *buffer;
+        char *data;
 
         bool headerCheck;
         int headerPoint;
         bool resetSend;
+
+        uint8_t checksum;
 };
 
 #endif
+