NagaokaRoboticsClub_mbedTeam / R1370

受信割り込みバージョン

Dependents:   a_team_R1370 ashimawari_sample_test 2022NHK_A_ashimawari 2022A_NHK_kikou

Diff: R1370.h

Revision:
5:553c02009ad0
Parent:
4:ffc2a55269f9
--- a/R1370.h	Sat May 18 08:42:05 2019 +0000
+++ b/R1370.h	Wed Dec 16 08:31:38 2020 +0000
@@ -14,13 +14,16 @@
     R1370(PinName tx, PinName rx);
 
     float getAngle();
+    float getRelativeAngle();
     float getRate();
     float getRadian();
+    float getRelativeRadian();
     int16_t getAcc(char l);
     int16_t getAcc(int i);
     int16_t getAccX();
     int16_t getAccY();
     int16_t getAccZ();
+    void reset();
     
     unsigned char upbit();
     unsigned char downbit();
@@ -41,6 +44,8 @@
     uint8_t data[R1370_BUFFER_SIZE-3];
     uint8_t bufferPoint;
     uint8_t receivedBytes;
+    int16_t zeroPoint;
+    float relativeAngle;
     
     unsigned char upbit_, downbit_;
 };