Sam Shum / ros_mbed_base_controller

Sam

ActionEncoder.hpp@2:611a5eb132a1, 2020-09-13 (annotated)

Committer:
s0313045
Date:
Sun Sep 13 04:30:54 2020 +0000
Revision:
2:611a5eb132a1
Parent:
0:502b364c9f1d 
by Sam

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s0313045 0:502b364c9f1d 1 /*
s0313045 0:502b364c9f1d 2 * ActionEncoder.hpp
s0313045 0:502b364c9f1d 3 *
s0313045 0:502b364c9f1d 4 * Created on: 7 Mar 2018
s0313045 0:502b364c9f1d 5 * Author: tung
s0313045 0:502b364c9f1d 6 */
s0313045 0:502b364c9f1d 7
s0313045 0:502b364c9f1d 8 #ifndef INCLUDE_ACTIONENCODER_HPP_
s0313045 0:502b364c9f1d 9 #define INCLUDE_ACTIONENCODER_HPP_
s0313045 0:502b364c9f1d 10
s0313045 0:502b364c9f1d 11 #include <stdint.h>
s0313045 0:502b364c9f1d 12 //#include <Serial.hpp>
s0313045 0:502b364c9f1d 13
s0313045 0:502b364c9f1d 14 class ActionEncoder
s0313045 0:502b364c9f1d 15 {
s0313045 0:502b364c9f1d 16 private:
s0313045 0:502b364c9f1d 17 uint8_t count,i,done;
s0313045 0:502b364c9f1d 18 union{
s0313045 0:502b364c9f1d 19 uint8_t data[24];
s0313045 0:502b364c9f1d 20 float val[6];
s0313045 0:502b364c9f1d 21 }posture;
s0313045 0:502b364c9f1d 22 float xangle,yangle,zangle,pos_x,pos_y,angleSpeed,d_angle;
s0313045 0:502b364c9f1d 23 float temp_zangle;
s0313045 0:502b364c9f1d 24 bool newDataArrived;
s0313045 0:502b364c9f1d 25 public:
s0313045 0:502b364c9f1d 26 ActionEncoder();
s0313045 0:502b364c9f1d 27 void readEncoder(char);
s0313045 0:502b364c9f1d 28 bool updated();
s0313045 0:502b364c9f1d 29 float getXangle();
s0313045 0:502b364c9f1d 30 float getYangle();
s0313045 0:502b364c9f1d 31 float getZangle();
s0313045 0:502b364c9f1d 32 float getXpos();
s0313045 0:502b364c9f1d 33 float getYpos();
s0313045 0:502b364c9f1d 34 float getAngleSpeed();
s0313045 0:502b364c9f1d 35 char * reset();
s0313045 0:502b364c9f1d 36 char * calibrate();
s0313045 0:502b364c9f1d 37 bool isAlive();
s0313045 0:502b364c9f1d 38 bool newDataAvailable();
s0313045 0:502b364c9f1d 39 uint32_t LastRead;
s0313045 0:502b364c9f1d 40
s0313045 0:502b364c9f1d 41 };
s0313045 0:502b364c9f1d 42
s0313045 0:502b364c9f1d 43
s0313045 0:502b364c9f1d 44
s0313045 0:502b364c9f1d 45
s0313045 0:502b364c9f1d 46
s0313045 0:502b364c9f1d 47
s0313045 0:502b364c9f1d 48
s0313045 0:502b364c9f1d 49 #endif /* INCLUDE_ACTIONENCODER_HPP_ */