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linemiconget.h

00001 #ifndef LINEMICONGET_H
00002 #define LINEMICONGET_H
00003 
00004 #include "mbed.h"
00005 #include "SerialMultiByte.h"
00006 
00007 #define FIRST_HEDDER 0xEE
00008 #define SECOND_HEDDER 0xFF
00009 #define BUFFER_SIZE 12
00010 #define TWO_BYTE_DATA 5
00011 #define ONE_BYTE_DATA 2 
00012 
00013 
00014 class linemiconget
00015 {
00016 
00017 public:
00018 
00019     linemiconget(PinName linegettx, PinName linegetrx);
00020     void receiveState();
00021     int getDistance(int number) const;
00022     int getEncoder(int number) const;
00023     bool getLine1(int number) const;
00024     bool getLine2(int number) const;
00025 
00026 private:
00027 
00028     uint8_t rxdata[BUFFER_SIZE];
00029     int data[TWO_BYTE_DATA + ONE_BYTE_DATA];
00030     bool line1[5], line2[5];
00031     SerialMultiByte serial;
00032 };
00033 
00034 #endif