José Gouveia / Mbed OS SRA2020-2021

feito

Dependencies:   BufferedSerial

Communication.cpp@9:d0ef39e209b7, 2021-05-20 (annotated)

Committer:
josefg25
Date:
Thu May 20 16:18:59 2021 +0000
Revision:
9:d0ef39e209b7
Parent:
0:c25c4b67b6a1 
SRA_update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yaaqobhpt 0:c25c4b67b6a1 1 #include "Communication.h"
yaaqobhpt 0:c25c4b67b6a1 2 #include "mbed.h"
yaaqobhpt 0:c25c4b67b6a1 3 #include "MessageBuilder.h"
yaaqobhpt 0:c25c4b67b6a1 4
yaaqobhpt 0:c25c4b67b6a1 5 const char max_len = 30;
yaaqobhpt 0:c25c4b67b6a1 6 Serial *serial_object;
yaaqobhpt 0:c25c4b67b6a1 7 MessageBuilder bin_msg;
yaaqobhpt 0:c25c4b67b6a1 8
yaaqobhpt 0:c25c4b67b6a1 9 void init_communication(Serial *serial_in)
yaaqobhpt 0:c25c4b67b6a1 10 {
yaaqobhpt 0:c25c4b67b6a1 11 serial_object = serial_in;
yaaqobhpt 0:c25c4b67b6a1 12 }
yaaqobhpt 0:c25c4b67b6a1 13
yaaqobhpt 0:c25c4b67b6a1 14 void write_bytes(char *ptr, unsigned char len)
yaaqobhpt 0:c25c4b67b6a1 15 {
yaaqobhpt 0:c25c4b67b6a1 16 for(int i=0; i<len; i++)
yaaqobhpt 0:c25c4b67b6a1 17 {
yaaqobhpt 0:c25c4b67b6a1 18 serial_object->putc(ptr[i]);
yaaqobhpt 0:c25c4b67b6a1 19 }
yaaqobhpt 0:c25c4b67b6a1 20 }
yaaqobhpt 0:c25c4b67b6a1 21
yaaqobhpt 0:c25c4b67b6a1 22 void send_odometry(int value1, int value2, int ticks_left, int ticks_right, float x, float y, float theta)
yaaqobhpt 0:c25c4b67b6a1 23 {
yaaqobhpt 0:c25c4b67b6a1 24 bin_msg.reset();
yaaqobhpt 0:c25c4b67b6a1 25 bin_msg.add('O');
yaaqobhpt 0:c25c4b67b6a1 26 bin_msg.add(value1);
yaaqobhpt 0:c25c4b67b6a1 27 bin_msg.add(value2);
yaaqobhpt 0:c25c4b67b6a1 28 bin_msg.add(ticks_left);
yaaqobhpt 0:c25c4b67b6a1 29 bin_msg.add(ticks_right);
yaaqobhpt 0:c25c4b67b6a1 30 bin_msg.add(x);
yaaqobhpt 0:c25c4b67b6a1 31 bin_msg.add(y);
yaaqobhpt 0:c25c4b67b6a1 32 bin_msg.add(theta);
yaaqobhpt 0:c25c4b67b6a1 33
yaaqobhpt 0:c25c4b67b6a1 34 write_bytes(bin_msg.message, bin_msg.length());
yaaqobhpt 0:c25c4b67b6a1 35 }