ArduinoHardware.h
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00001 /* 
00002  * Software License Agreement (BSD License)
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00004  * Copyright (c) 2011, Willow Garage, Inc.
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00009  * are met:
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00013  *  * Redistributions in binary form must reproduce the above
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00015  *    disclaimer in the documentation and/or other materials provided
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00034 
00035 #ifndef ROS_ARDUINO_HARDWARE_H_
00036 #define ROS_ARDUINO_HARDWARE_H_
00037 
00038 #include "WProgram.h"
00039 #include <HardwareSerial.h>
00040 
00041 class ArduinoHardware {
00042   public:
00043     ArduinoHardware(HardwareSerial* io , long baud= 57600){
00044       iostream = io;
00045       baud_ = baud;
00046     }
00047     ArduinoHardware()
00048     {
00049       iostream = &Serial;
00050       baud_ = 57600;
00051     }
00052     ArduinoHardware(ArduinoHardware& h){
00053       this->baud_ = h.baud_;
00054       this->iostream = iostream;
00055     }
00056   
00057     void setBaud(long baud){
00058       this->baud_= baud;
00059     }
00060   
00061     int getBaud(){return baud_;}
00062 
00063     void init(){
00064       iostream->begin(baud_);
00065     }
00066 
00067     int read(){return iostream->read();};
00068     void write(uint8_t* data, int length){
00069       for(int i=0; i<length; i++)
00070         iostream->write(data[i]);
00071     }
00072 
00073     unsigned long time(){return millis();}
00074 
00075   protected:
00076     long baud_;
00077     HardwareSerial* iostream;
00078 };
00079 
00080 #endif
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Author(s): André Gonçalves Araújo
autogenerated on Fri Feb 1 2013 13:21:12