Revision 5:553c02009ad0, committed 2020-12-16

Comitter:

highfieldsnj

Date:

Wed Dec 16 08:31:38 2020 +0000

Parent:

4:ffc2a55269f9

Commit message:

add functions reset

Changed in this revision

diff -r ffc2a55269f9 -r 553c02009ad0 R1370.cpp
--- a/R1370.cpp	Sat May 18 08:42:05 2019 +0000
+++ b/R1370.cpp	Wed Dec 16 08:31:38 2020 +0000
@@ -2,6 +2,7 @@
 
 R1370::R1370(PinName tx, PinName rx) : RawSerial(tx, rx, 115200)
 {
+    zeroPoint = 0;
     attach(callback(this, &R1370::receiveByte));
 }
 
@@ -61,6 +62,17 @@
     return (float)(angle / 100.0);
 }
 
+float R1370::getRelativeAngle()
+{
+    relativeAngle = (float)((angle - zeroPoint) / 100.0);
+    if(relativeAngle > 180.0){
+        return relativeAngle - 360.0;
+    }else if(relativeAngle < -180.0){
+        return relativeAngle + 360.0;
+    }
+    return relativeAngle;
+}
+
 float R1370::getRate()
 {
     return (float)(rate / 100.0);
@@ -71,6 +83,11 @@
     return (float)(angle / 100.0 / 180.0 * 3.141592653589793);
 }
 
+float R1370::getRelativeRadian()
+{
+    return getRelativeAngle() / 180.0 * 3.141592653589793;
+}
+
 int16_t R1370::getAcc(char l)
 {
     if(l == 'x' || l == 'X') {
@@ -116,4 +133,9 @@
 unsigned char R1370::downbit()
 {
     return downbit_;
+}
+
+void R1370::reset()
+{
+    zeroPoint = angle;
 }
\ No newline at end of file

diff -r ffc2a55269f9 -r 553c02009ad0 R1370.h
--- 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_;
 };