Diff: TRex.h

Revision:

1:a525356bd830

Parent:

0:17670db9a782

--- a/TRex.h	Thu Nov 06 08:15:51 2014 +0000
+++ b/TRex.h	Thu Nov 06 10:58:59 2014 +0000
@@ -1,11 +1,71 @@
 #ifndef TREX_HEADER
 #define TREX_HEADER
 
+enum StatusDataPacketFields {
+    STATUS_START = 0,
+    STATUS_ERROR = 1,
+    STATUS_BATTERY_MSB = 2,
+    STATUS_BATTERY_LSB = 3,
+    STATUS_LEFT_MOTOR_CURRENT_MSB = 4,
+    STATUS_LEFT_MOTOR_CURRENT_LSB = 5,
+    STATUS_LEFT_ENCODER_COUNT_MSB = 6,
+    STATUS_LEFT_ENCODER_COUNT_LSB = 7,
+    STATUS_RIGHT_MOTOR_CURRENT_MSB = 8,
+    STATUS_RIGHT_MOTOR_CURRENT_LSB = 9,
+    STATUS_RIGHT_ENCODER_COUNT_MSB = 10,
+    STATUS_RIGHT_ENCODER_COUNT_LSB = 11,
+    STATUS_ACCELEROMETER_X_MSB = 12,
+    STATUS_ACCELEROMETER_X_LSB = 13,
+    STATUS_ACCELEROMETER_Y_MSB = 14,
+    STATUS_ACCELEROMETER_Y_LSB = 15,
+    STATUS_ACCELEROMETER_Z_MSB = 16,
+    STATUS_ACCELEROMETER_Z_LSB = 17,
+    STATUS_IMPACT_X_MSB = 18,
+    STATUS_IMPACT_X_LSB = 19,
+    STATUS_IMPACT_Y_MSB = 20,
+    STATUS_IMPACT_Y_LSB = 21,
+    STATUS_IMPACT_Z_MSB = 22,
+    STATUS_IMPACT_Z_LSB = 23
+};
+
+enum ErrorFlag {
+    CLEAR = 0,
+    START_BYTE = 1,
+    PWM_FREQ = 2,
+    SPEED = 4,
+    SERVO = 8,
+    IMPACT = 16,
+    BATTERY = 32,
+    I2C_ADDRESS = 64,
+    I2C_SPEED = 128
+};
+
 class TRex {
-    
+    public:
+        unsigned char startbyte;
+        unsigned char errorflags;
+        unsigned short batteryvoltage;
+        unsigned short leftmotorcurrent;
+        unsigned short rightmotorcurrent;
+        unsigned short leftencodercount;
+        unsigned short rightencodercount;
+        unsigned short accelero_x;
+        unsigned short accelero_y;
+        unsigned short accelero_z;
+        unsigned short impact_x;
+        unsigned short impact_y;
+        unsigned short impact_z;
+
+        /* Number of bytes in the TREX byte array representation */
+        const static int SIZE_TREX_DATA_PACKET = 24;
     public:
         /* Constructor */
         TRex();
+        void getStatusDataPacket(char * buffer);
+        void determineBatteryVoltage(void);
+        
+    private:
+        void toBigEndianByteArray(char * bytes, unsigned short value);
 };