hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

MbedHardware.h@2:5d429be7d0aa, 2020-11-02 (annotated)

Committer:
sgrsn
Date:
Mon Nov 02 09:00:01 2020 +0000
Revision:
2:5d429be7d0aa
Parent:
0:04ac6be8229a 
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 /*
Gary Servin 0:04ac6be8229a 2 * MbedHardware
Gary Servin 0:04ac6be8229a 3 *
Gary Servin 0:04ac6be8229a 4 * Created on: Aug 17, 2011
Gary Servin 0:04ac6be8229a 5 * Author: nucho
Gary Servin 0:04ac6be8229a 6 */
Gary Servin 0:04ac6be8229a 7
Gary Servin 0:04ac6be8229a 8 #ifndef ROS_MBED_HARDWARE_H_
Gary Servin 0:04ac6be8229a 9 #define ROS_MBED_HARDWARE_H_
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 #include "mbed.h"
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 #include "BufferedSerial.h"
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 class MbedHardware {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 MbedHardware(PinName tx, PinName rx, long baud = 57600)
Gary Servin 0:04ac6be8229a 18 :iostream(tx, rx){
Gary Servin 0:04ac6be8229a 19 baud_ = baud;
Gary Servin 0:04ac6be8229a 20 t.start();
Gary Servin 0:04ac6be8229a 21 }
Gary Servin 0:04ac6be8229a 22
Gary Servin 0:04ac6be8229a 23 MbedHardware()
Gary Servin 0:04ac6be8229a 24 :iostream(USBTX, USBRX) {
Gary Servin 0:04ac6be8229a 25 baud_ = 57600;
Gary Servin 0:04ac6be8229a 26 t.start();
Gary Servin 0:04ac6be8229a 27 }
Gary Servin 0:04ac6be8229a 28
Gary Servin 0:04ac6be8229a 29 void setBaud(long baud){
Gary Servin 0:04ac6be8229a 30 this->baud_= baud;
Gary Servin 0:04ac6be8229a 31 }
Gary Servin 0:04ac6be8229a 32
Gary Servin 0:04ac6be8229a 33 int getBaud(){return baud_;}
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 void init(){
Gary Servin 0:04ac6be8229a 36 iostream.baud(baud_);
Gary Servin 0:04ac6be8229a 37 }
Gary Servin 0:04ac6be8229a 38
Gary Servin 0:04ac6be8229a 39 int read(){
Gary Servin 0:04ac6be8229a 40 if (iostream.readable()) {
Gary Servin 0:04ac6be8229a 41 return iostream.getc();
Gary Servin 0:04ac6be8229a 42 } else {
Gary Servin 0:04ac6be8229a 43 return -1;
Gary Servin 0:04ac6be8229a 44 }
Gary Servin 0:04ac6be8229a 45 };
Gary Servin 0:04ac6be8229a 46 void write(uint8_t* data, int length) {
Gary Servin 0:04ac6be8229a 47 for (int i=0; i<length; i++)
Gary Servin 0:04ac6be8229a 48 iostream.putc(data[i]);
Gary Servin 0:04ac6be8229a 49 }
Gary Servin 0:04ac6be8229a 50
Gary Servin 0:04ac6be8229a 51 unsigned long time(){return t.read_ms();}
Gary Servin 0:04ac6be8229a 52
Gary Servin 0:04ac6be8229a 53 protected:
Gary Servin 0:04ac6be8229a 54 BufferedSerial iostream;
Gary Servin 0:04ac6be8229a 55 long baud_;
Gary Servin 0:04ac6be8229a 56 Timer t;
Gary Servin 0:04ac6be8229a 57 };
Gary Servin 0:04ac6be8229a 58
Gary Servin 0:04ac6be8229a 59
Gary Servin 0:04ac6be8229a 60 #endif /* ROS_MBED_HARDWARE_H_ */