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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00034 
00035 #ifndef ROS_ARDUINO_HARDWARE_H_
00036 #define ROS_ARDUINO_HARDWARE_H_
00037 
00038 #if ARDUINO>=100
00039 #include <Arduino.h> // Arduino 1.0
00040 #else
00041 #include <Wprogram.h> // Arduino 0022
00042 #endif
00043 #include <HardwareSerial.h>
00044 
00045 class ArduinoHardware {
00046   public:
00047     ArduinoHardware(HardwareSerial* io , long baud= 57600){
00048       iostream = io;
00049       baud_ = baud;
00050     }
00051     ArduinoHardware()
00052     {
00053       iostream = &Serial;
00054       baud_ = 57600;
00055     }
00056     ArduinoHardware(ArduinoHardware& h){
00057       this->iostream = iostream;
00058       this->baud_ = h.baud_;
00059     }
00060   
00061     void setBaud(long baud){
00062       this->baud_= baud;
00063     }
00064   
00065     int getBaud(){return baud_;}
00066 
00067     void init(){
00068       iostream->begin(baud_);
00069     }
00070 
00071     int read(){return iostream->read();};
00072     void write(uint8_t* data, int length){
00073       for(int i=0; i<length; i++)
00074         iostream->write(data[i]);
00075     }
00076 
00077     unsigned long time(){return millis();}
00078 
00079   protected:
00080     HardwareSerial* iostream;
00081     long baud_;
00082 };
00083 
00084 #endif


rosserial_arduino
Author(s): Michael Ferguson, Adam Stambler
autogenerated on Fri Dec 6 2013 20:35:55