NagaokaRoboticsClub_mbedTeam / R1370MeasuringWheel

measuringwheel関数がついかされています。

Diff: R1370.cpp

Revision:
1:ec87437c2029
Parent:
0:243364135087
Child:
4:ee51008e03e2
--- a/R1370.cpp	Fri Aug 24 04:38:13 2018 +0000
+++ b/R1370.cpp	Mon Aug 27 04:45:30 2018 +0000
@@ -25,6 +25,8 @@
         acc[1] = (buf[9] & 0xFF) | ((buf[10] << 8) & 0xFF00);
         acc[2] = (buf[11] & 0xFF) | ((buf[12] << 8) & 0xFF00);
         reserved = buf[13];
+        upbit_ = buf[3];
+        downbit_ = buf[4];
     }
 }
 
@@ -88,4 +90,14 @@
 int16_t R1370::getAccZ()
 {
     return acc[2];
+}
+
+unsigned char R1370::upbit()
+{
+    return upbit_;
+}
+
+unsigned char R1370::downbit()
+{
+    return downbit_;
 }
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