measuringwheel関数がついかされています。
R1370.h
- Committer:
- UCHITAKE
- Date:
- 2018-08-24
- Revision:
- 2:b6f5a4994a84
- Parent:
- 0:243364135087
File content as of revision 2:b6f5a4994a84:
#ifndef R1370_H #define R1370_H /** * Includes */ #include "mbed.h" #include <vector> /** * Defines */ #define R1370_BUFFER_SIZE 15 #define R1370_HEADER0 0xAA #define R1370_HEADER1 0x00 /** * R1370 sensor module * sample code is here https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/R1370sample/ */ class R1370 : public RawSerial { public : /** * Constructor. * * set 2pins for UART * * @param tx - TXpin for UART * @param rx - RXpin for UART */ R1370(PinName tx, PinName rx); //Getters. float getAngle(); float getRate(); int16_t getAcc(char l); int16_t getAcc(int i); int16_t getAccX(); int16_t getAccY(); int16_t getAccZ(); private : void receiveByte(); void assembleLoop(); void assemble(); Thread thread; std::vector<unsigned char> buf; uint8_t index; int16_t angle; int16_t rate; int16_t acc[3]; uint8_t reserved; }; #endif