Revision 0:72a36a529ad4, committed 2018-10-12

Comitter:

tanabe2000

Date:

Fri Oct 12 04:39:03 2018 +0000

Commit message:

ver1

Changed in this revision

diff -r 000000000000 -r 72a36a529ad4 linemiconget.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/linemiconget.cpp	Fri Oct 12 04:39:03 2018 +0000
@@ -0,0 +1,52 @@
+#include "linemiconget.h"
+
+linemiconget::linemiconget(PinName linegettx, PinName linegetrx):
+    serial(linegettx, linegetrx)
+{
+    serial.baud(115200);
+    serial.setHeaders(FIRST_HEDDER, SECOND_HEDDER);
+    serial.startReceive(BUFFER_SIZE);
+}
+
+void linemiconget::receiveState()
+{
+    serial.getData(rxdata);
+    for(int i = 0; i < TWO_BYTE_DATA; i++) {
+        //if((((rxdata[2*i]<<8)|rxdata[2*i+1]) - 32768 > 1200) || (((rxdata[2*i]<<8)|rxdata[2*i+1]) - 32768 < -1)) {
+//        } else {
+            data[i] = ((rxdata[2*i]<<8)|rxdata[2*i+1]) - 32768;
+//        }
+    }
+        for(int i = 0; i < ONE_BYTE_DATA; i++)data[TWO_BYTE_DATA + i] = rxdata[2*TWO_BYTE_DATA + i];
+    for(int i=0; i<5; i++) {
+        line1[i] = data[5] % 2;
+        data[5] /= 2;
+        line2[i] = data[6] % 2;
+        data[6] /= 2;
+
+    }
+}
+
+int linemiconget::getDistance(int number) const
+{
+    if((data[number] > 1200) || (data[number] < -1)) {
+        return -1;
+    } else {
+        return data[number];
+    }
+}
+
+int linemiconget::getEncoder(int number) const
+{
+    return data[number + 2];
+}
+
+bool linemiconget::getLine1(int number) const
+{
+    return line1[number];
+}
+
+bool linemiconget::getLine2(int number) const
+{
+    return line2[number];
+}

diff -r 000000000000 -r 72a36a529ad4 linemiconget.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/linemiconget.h	Fri Oct 12 04:39:03 2018 +0000
@@ -0,0 +1,34 @@
+#ifndef LINEMICONGET_H
+#define LINEMICONGET_H
+
+#include "mbed.h"
+#include "SerialMultiByte.h"
+
+#define FIRST_HEDDER 0xEE
+#define SECOND_HEDDER 0xFF
+#define BUFFER_SIZE 12
+#define TWO_BYTE_DATA 5
+#define ONE_BYTE_DATA 2 
+
+
+class linemiconget
+{
+
+public:
+
+    linemiconget(PinName linegettx, PinName linegetrx);
+    void receiveState();
+    int getDistance(int number) const;
+    int getEncoder(int number) const;
+    bool getLine1(int number) const;
+    bool getLine2(int number) const;
+
+private:
+
+    uint8_t rxdata[BUFFER_SIZE];
+    int data[TWO_BYTE_DATA + ONE_BYTE_DATA];
+    bool line1[5], line2[5];
+    SerialMultiByte serial;
+};
+
+#endif
\ No newline at end of file