NagaokaRoboticsClub_mbedTeam / R1370MeasuringWheel

measuringwheel関数がついかされています。

R1370.h

Committer:
tanabe2000
Date:
2018-08-27
Revision:
1:ec87437c2029
Parent:
0:243364135087
Child:
4:ee51008e03e2

File content as of revision 1:ec87437c2029:

#ifndef R1370_H
#define R1370_H

#include "mbed.h"
#include <vector>

#define R1370_BUFFER_SIZE 15
#define R1370_HEADER0 0xAA
#define R1370_HEADER1 0x00

class R1370 : public RawSerial
{
public :
    R1370(PinName tx, PinName rx);

    float getAngle();
    float getRate();
    int16_t getAcc(char l);
    int16_t getAcc(int i);
    int16_t getAccX();
    int16_t getAccY();
    int16_t getAccZ();
    
    unsigned char upbit();
    unsigned char downbit();
    
    
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;
    
    unsigned char upbit_, downbit_;
};

#endif