1 files changed, 36 insertions, 0 deletions

diff --git a/serial/serial.h b/serial/serial.h
new file mode 100644
index 0000000..8061b24
--- /dev/null
+++ b/serial/serial.h
@@ -0,0 +1,36 @@
+#ifndef SERIAL_H
+#define SERIAL_H
+
+#include "path_ctrl_t.h"
+#include "path_t.h"
+#include "pose_t.h"
+#include <errno.h>
+#include <fcntl.h>
+#include <pthread.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <termios.h>
+#include <unistd.h>
+
+#define MAX_BUFFER_SIZE 1024
+#define DEFAULT_SPEED 0x15 // 默认速度，百分比
+// TODO: 两个待测数据
+#define RADIUS 0.3    // 两轮之间的距离的一半，米
+#define FULLSPEED 1.5 // 轮子全速，m/s
+#define fabs(x) ((x) > 0 ? (x) : -(x))
+typedef unsigned char byte;
+
+bool whellInit();
+bool wheelSend(byte a, byte a_v, byte b, byte b_v);
+void parseCmd(const lcm_recv_buf_t *rbuf, const char *channel,
+              const path_ctrl_t *msg, void *userdata);
+void parsePath(const lcm_recv_buf_t *rbuf, const char *channel,
+               const path_t *msg, void *userdata);
+void setCurPose(const lcm_recv_buf_t *rbuf, const char *channel,
+                  const pose_t *msg, void *userdata);
+void renewCurPose();
+void sendCurPose();
+
+#endif
\ No newline at end of file