Sille Van Landschoot / Mbed 2 deprecated m3Dpi-helloworld

m3Dpi robot, based on the Pololu 3pi and m3pi. m3Dpi has multiple distance sensors, gyroscope, compass and accelerometer sensor to be fully aware of its environment. With the addition of xbee or nrf24n01 module it has wireless communication capabilities.

Dependencies:   m3Dpi mbed-rtos mbed MbedJSONValue

lib/binaryReporter.cpp@17:b73fcdb828f3, 2017-08-30 (annotated)

Committer:
sillevl
Date:
Wed Aug 30 11:54:19 2017 +0000
Revision:
17:b73fcdb828f3
Parent:
13:d6374484b953 
demo distance sensors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sillevl 13:d6374484b953 1 #include "binaryReporter.h"
sillevl 13:d6374484b953 2
sillevl 13:d6374484b953 3 void BinaryReporter::print(char* data, int size)
sillevl 13:d6374484b953 4 {
sillevl 13:d6374484b953 5 for(int i = 0; i < size; i++){
sillevl 13:d6374484b953 6 out->putc(data[i]);
sillevl 13:d6374484b953 7 }
sillevl 13:d6374484b953 8 }
sillevl 13:d6374484b953 9
sillevl 13:d6374484b953 10 void BinaryReporter::time(time_t seconds)
sillevl 13:d6374484b953 11 {
sillevl 13:d6374484b953 12
sillevl 13:d6374484b953 13 }
sillevl 13:d6374484b953 14
sillevl 13:d6374484b953 15 void BinaryReporter::distance(m3dpi::Distance distance)
sillevl 13:d6374484b953 16 {
sillevl 13:d6374484b953 17 const int SIZE = 13;
sillevl 13:d6374484b953 18 char data[SIZE] = {START,'a', SIZE-1, DISTANCE};
sillevl 13:d6374484b953 19 data [4] = distance.front;
sillevl 13:d6374484b953 20 data [5] = distance.front_right;
sillevl 13:d6374484b953 21 data [6] = distance.right;
sillevl 13:d6374484b953 22 data [7] = distance.back_right;
sillevl 13:d6374484b953 23 data [8] = distance.back;
sillevl 13:d6374484b953 24 data [9] = distance.back_left;
sillevl 13:d6374484b953 25 data [10] = distance.left;
sillevl 13:d6374484b953 26 data [11] = distance.front_left;
sillevl 13:d6374484b953 27 data [12] = 0x00; // checksum
sillevl 13:d6374484b953 28 print(data, SIZE);
sillevl 13:d6374484b953 29 }
sillevl 13:d6374484b953 30
sillevl 13:d6374484b953 31 void BinaryReporter::acceleration(m3dpi::Acceleration acc)
sillevl 13:d6374484b953 32 {
sillevl 13:d6374484b953 33 const int SIZE = 11;
sillevl 13:d6374484b953 34 char data[SIZE] = {START,'a', SIZE-1, ACCELERATION};
sillevl 13:d6374484b953 35 data[4] = acc.x / 256;
sillevl 13:d6374484b953 36 data[5] = acc.x % 256;
sillevl 13:d6374484b953 37 data[6] = acc.y / 256;
sillevl 13:d6374484b953 38 data[5] = acc.y % 256;
sillevl 13:d6374484b953 39 data[8] = acc.z / 256;
sillevl 13:d6374484b953 40 data[9] = acc.z % 256;
sillevl 13:d6374484b953 41 data [10] = 0x00; // checksum
sillevl 13:d6374484b953 42 print(data, SIZE);
sillevl 13:d6374484b953 43 }
sillevl 13:d6374484b953 44
sillevl 13:d6374484b953 45 void BinaryReporter::direction(m3dpi::Direction direction)
sillevl 13:d6374484b953 46 {
sillevl 13:d6374484b953 47 const int SIZE = 11;
sillevl 13:d6374484b953 48 char data[SIZE] = {START,'a', SIZE-1, DIRECTION};
sillevl 13:d6374484b953 49 data[4] = direction.x / 256;
sillevl 13:d6374484b953 50 data[5] = direction.x % 256;
sillevl 13:d6374484b953 51 data[6] = direction.y / 256;
sillevl 13:d6374484b953 52 data[5] = direction.y % 256;
sillevl 13:d6374484b953 53 data[8] = direction.z / 256;
sillevl 13:d6374484b953 54 data[9] = direction.z % 256;
sillevl 13:d6374484b953 55 data [10] = 0x00; // checksum
sillevl 13:d6374484b953 56 print(data, SIZE);
sillevl 13:d6374484b953 57 }
sillevl 13:d6374484b953 58
sillevl 13:d6374484b953 59 void BinaryReporter::rotation(m3dpi::Rotation rotation)
sillevl 13:d6374484b953 60 {
sillevl 13:d6374484b953 61 const int SIZE = 11;
sillevl 13:d6374484b953 62 char data[SIZE] = {START,'a', SIZE-1, ROTATION};
sillevl 13:d6374484b953 63 data[4] = rotation.x / 256;
sillevl 13:d6374484b953 64 data[5] = rotation.x % 256;
sillevl 13:d6374484b953 65 data[6] = rotation.y / 256;
sillevl 13:d6374484b953 66 data[5] = rotation.y % 256;
sillevl 13:d6374484b953 67 data[8] = rotation.z / 256;
sillevl 13:d6374484b953 68 data[9] = rotation.z % 256;
sillevl 13:d6374484b953 69 data [10] = 0x00; // checksum
sillevl 13:d6374484b953 70 print(data, SIZE);
sillevl 13:d6374484b953 71 }