Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
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?
User | Revision | Line number | New 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_ */ |