NagaokaRoboticsClub_mbedTeam / R1307

R1370

Dependents:   NHK2017_octopus2 NHK2017_octopus2_drive 2018NHK_gakugaku_robo 2018NHK_gaku_ver2

Fork of R1307 by Wataru Nakata

r1307.cpp@3:7105b2e1f51e, 2017-11-01 (annotated)

Committer:
UCHITAKE
Date:
Wed Nov 01 08:03:03 2017 +0000
Revision:
3:7105b2e1f51e
Parent:
2:deb20a97e035
Child:
5:47dbcf162951
cupsuled;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 1:59efa65938c7 1 #include "r1307.h"
WAT34 1:59efa65938c7 2
WAT34 1:59efa65938c7 3
WAT34 1:59efa65938c7 4 R1307::R1307(PinName tx_,PinName rx_): serial(tx_,rx_)
WAT34 1:59efa65938c7 5 {
WAT34 2:deb20a97e035 6 //ticker.attach(this,&R1307::update,0.01);
WAT34 1:59efa65938c7 7 serial.baud(115200);
WAT34 1:59efa65938c7 8 }
WAT34 1:59efa65938c7 9
WAT34 1:59efa65938c7 10
WAT34 1:59efa65938c7 11 void R1307::update()
WAT34 1:59efa65938c7 12 {
WAT34 1:59efa65938c7 13 uint8_t index;
WAT34 1:59efa65938c7 14 int16_t angle;
WAT34 1:59efa65938c7 15 int16_t rate;
WAT34 1:59efa65938c7 16 int16_t x_acc;
WAT34 1:59efa65938c7 17 int16_t y_acc;
WAT34 1:59efa65938c7 18 int16_t z_acc;
WAT34 1:59efa65938c7 19 uint8_t check_sum;
WAT34 1:59efa65938c7 20 //Verify packet heading information
WAT34 1:59efa65938c7 21 while(serial.getc() != 0xAA){
WAT34 1:59efa65938c7 22 if(!serial.readable())
WAT34 1:59efa65938c7 23 return;
WAT34 1:59efa65938c7 24 }
WAT34 1:59efa65938c7 25 if(serial.getc() != 0x00)
WAT34 1:59efa65938c7 26 return;
WAT34 1:59efa65938c7 27 //Assemble data
WAT34 1:59efa65938c7 28
WAT34 1:59efa65938c7 29 index = serial.getc();
WAT34 1:59efa65938c7 30 rate = (serial.getc() & 0xFF) | ((serial.getc() << 8) & 0xFF00);
WAT34 1:59efa65938c7 31 angle = (serial.getc() & 0xFF) | ((serial.getc()<< 8) & 0XFF00);
WAT34 1:59efa65938c7 32 x_acc = (serial.getc() & 0xFF) | ((serial.getc()<< 8) & 0xFF00);
WAT34 1:59efa65938c7 33 y_acc = (serial.getc() & 0xFF) | ((serial.getc() << 8) & 0XFF00);
WAT34 1:59efa65938c7 34 z_acc = (serial.getc() & 0xFF) | ((serial.getc() << 8) & 0xFF00);
WAT34 1:59efa65938c7 35 //Scale and store data
WAT34 1:59efa65938c7 36 gRate = rate / 100.0;
WAT34 1:59efa65938c7 37 gAngle = angle / 100.0;
WAT34 1:59efa65938c7 38 gX_acc = x_acc;
WAT34 1:59efa65938c7 39 gY_acc = y_acc;
WAT34 1:59efa65938c7 40 gZ_acc = z_acc;
UCHITAKE 3:7105b2e1f51e 41 }
UCHITAKE 3:7105b2e1f51e 42 float R1307::getRate()
UCHITAKE 3:7105b2e1f51e 43 {
UCHITAKE 3:7105b2e1f51e 44 return gRate;
UCHITAKE 3:7105b2e1f51e 45 }
UCHITAKE 3:7105b2e1f51e 46
UCHITAKE 3:7105b2e1f51e 47 float R1307::getAngle()
UCHITAKE 3:7105b2e1f51e 48 {
UCHITAKE 3:7105b2e1f51e 49 return gAngle;
WAT34 1:59efa65938c7 50 }
UCHITAKE 3:7105b2e1f51e 51
UCHITAKE 3:7105b2e1f51e 52 float R1307::getAccX()
UCHITAKE 3:7105b2e1f51e 53 {
UCHITAKE 3:7105b2e1f51e 54 return gX_acc;
UCHITAKE 3:7105b2e1f51e 55 }
UCHITAKE 3:7105b2e1f51e 56
UCHITAKE 3:7105b2e1f51e 57 float R1307::getAccY()
UCHITAKE 3:7105b2e1f51e 58 {
UCHITAKE 3:7105b2e1f51e 59 return gY_acc;
UCHITAKE 3:7105b2e1f51e 60 }
UCHITAKE 3:7105b2e1f51e 61
UCHITAKE 3:7105b2e1f51e 62 float R1307::getAccZ()
UCHITAKE 3:7105b2e1f51e 63 {
UCHITAKE 3:7105b2e1f51e 64 return gZ_acc;
UCHITAKE 3:7105b2e1f51e 65 }