2021 NHK B
OmniPosition.h
- Committer:
- tanabe2000
- Date:
- 2018-07-31
- Revision:
- 3:47676abdf529
- Parent:
- 2:edd33d3ad0fd
- Child:
- 4:fc4c88fffef8
File content as of revision 3:47676abdf529:
#ifndef OMNI_POSITION_H #define OMNI_POSITION_H #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 SEND_FREQ 0.1 #define DEFAULT_BAUD 115200 class OmniPosition : public RawSerial { public : OmniPosition(PinName serialTX, PinName serialRX); double getAngle(); void reset(); private : void readData(); void assemble(); void send(); CycleInt readCounter; CycleInt takeCounter; Ticker assembleTicker; Ticker sendTicker; double angle; int angleInt; uint8_t *buffer; uint8_t *data; bool headerCheck; int headerPoint; bool resetSend; }; #endif