teensy_serial.h

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#ifndef teensy_serial_h
#define teensy_serial_h
 
#include "Arduino.h"
 
class TeensySerial
{
    // Constructor
    public: TeensySerial(int _number_of_motors);
 
    // Destructor
    public: ~TeensySerial();
 
    public: bool areControlCommandsAvailable();
 
    public: void receiveControlCommands(double &_control_command_type, double* _control_commands);
 
    public: void sendStates(double *_joint_positions, double *_joint_velocities, double *_joint_torques);
 
    public: void printTxBuffer();
 
    private: int number_of_motors;
 
    private: int tx_buffer_size;
 
    private: int rx_buffer_size;
 
    private: unsigned char* rx_buffer;
 
    private: unsigned char* tx_buffer;
};
 
#endif