R1370
Dependents: NHK2017_octopus2 NHK2017_octopus2_drive 2018NHK_gakugaku_robo 2018NHK_gaku_ver2
Fork of R1307 by
r1307.cpp
- Committer:
- WAT34
- Date:
- 2017-10-11
- Revision:
- 2:deb20a97e035
- Parent:
- 1:59efa65938c7
- Child:
- 3:7105b2e1f51e
File content as of revision 2:deb20a97e035:
#include "r1307.h" R1307::R1307(PinName tx_,PinName rx_): serial(tx_,rx_) { //ticker.attach(this,&R1307::update,0.01); serial.baud(115200); } void R1307::update() { uint8_t index; int16_t angle; int16_t rate; int16_t x_acc; int16_t y_acc; int16_t z_acc; uint8_t check_sum; //Verify packet heading information while(serial.getc() != 0xAA){ if(!serial.readable()) return; } if(serial.getc() != 0x00) return; //Assemble data index = serial.getc(); rate = (serial.getc() & 0xFF) | ((serial.getc() << 8) & 0xFF00); angle = (serial.getc() & 0xFF) | ((serial.getc()<< 8) & 0XFF00); x_acc = (serial.getc() & 0xFF) | ((serial.getc()<< 8) & 0xFF00); y_acc = (serial.getc() & 0xFF) | ((serial.getc() << 8) & 0XFF00); z_acc = (serial.getc() & 0xFF) | ((serial.getc() << 8) & 0xFF00); //Scale and store data gRate = rate / 100.0; gAngle = angle / 100.0; gX_acc = x_acc; gY_acc = y_acc; gZ_acc = z_acc; return; }