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

Committer:
sillevl
Date:
2017-08-30
Revision:
17:b73fcdb828f3
Parent:
13:d6374484b953

File content as of revision 17:b73fcdb828f3:

#include "binaryReporter.h"

void BinaryReporter::print(char* data, int size)
{
    for(int i = 0; i < size; i++){
        out->putc(data[i]);
    }
}

void BinaryReporter::time(time_t seconds)
{

}

void BinaryReporter::distance(m3dpi::Distance distance)
{
    const int SIZE = 13;
    char data[SIZE] = {START,'a', SIZE-1, DISTANCE};
    data [4] = distance.front;
    data [5] = distance.front_right;
    data [6] = distance.right;
    data [7] = distance.back_right;
    data [8] = distance.back;
    data [9] = distance.back_left;
    data [10] = distance.left;
    data [11] = distance.front_left;
    data [12] = 0x00; // checksum
    print(data, SIZE);
}

void BinaryReporter::acceleration(m3dpi::Acceleration acc)
{
    const int SIZE = 11;
    char data[SIZE] = {START,'a', SIZE-1, ACCELERATION};
    data[4] = acc.x / 256;
    data[5] = acc.x % 256;
    data[6] = acc.y / 256;
    data[5] = acc.y % 256;
    data[8] = acc.z / 256;
    data[9] = acc.z % 256;
    data [10] = 0x00; // checksum
    print(data, SIZE);
}

void BinaryReporter::direction(m3dpi::Direction direction)
{
    const int SIZE = 11;
    char data[SIZE] = {START,'a', SIZE-1, DIRECTION};
    data[4] = direction.x / 256;
    data[5] = direction.x % 256;
    data[6] = direction.y / 256;
    data[5] = direction.y % 256;
    data[8] = direction.z / 256;
    data[9] = direction.z % 256;
    data [10] = 0x00; // checksum
    print(data, SIZE);
}

void BinaryReporter::rotation(m3dpi::Rotation rotation)
{
    const int SIZE = 11;
    char data[SIZE] = {START,'a', SIZE-1, ROTATION};
    data[4] = rotation.x / 256;
    data[5] = rotation.x % 256;
    data[6] = rotation.y / 256;
    data[5] = rotation.y % 256;
    data[8] = rotation.z / 256;
    data[9] = rotation.z % 256;
    data [10] = 0x00; // checksum
    print(data, SIZE);
}