Qian Yuyang / Mbed 2 deprecated Balance_Car_QianYuyang

QAQ ==!

Dependencies:   mbed QEI-1 nRF24L01P xiugai

JY901.h@15:934289377f7a, 2019-12-14 (annotated)

Committer:
AlexQian
Date:
Sat Dec 14 05:45:16 2019 +0000
Revision:
15:934289377f7a
Parent:
14:5bc7349d0e3b 
Balance_Car;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zhangyx 14:5bc7349d0e3b 1 #include "mbed.h"
zhangyx 14:5bc7349d0e3b 2 #include "BufferedSerial.h"
zhangyx 14:5bc7349d0e3b 3 class JY901
zhangyx 14:5bc7349d0e3b 4 {
zhangyx 14:5bc7349d0e3b 5 int state, token, payloadLen, recvLen;
zhangyx 14:5bc7349d0e3b 6 unsigned char payloadBuf[16];
zhangyx 14:5bc7349d0e3b 7 protected:
zhangyx 14:5bc7349d0e3b 8 BufferedSerial mod;
zhangyx 14:5bc7349d0e3b 9 float acc[3], gyo[3], mag[3], att[3];
zhangyx 14:5bc7349d0e3b 10 void parseCmpt(int token, unsigned char* payloadBuf, int payloadLen);
zhangyx 14:5bc7349d0e3b 11 void parseInput(const char* data, int len);
zhangyx 14:5bc7349d0e3b 12 public:
zhangyx 14:5bc7349d0e3b 13 JY901(PinName TX, PinName RX) : mod(TX, RX, 32){}
zhangyx 14:5bc7349d0e3b 14 ~JY901() {}
zhangyx 14:5bc7349d0e3b 15 void baud (int baudrate) {mod.baud(baudrate);}
zhangyx 14:5bc7349d0e3b 16 void receiveData();
zhangyx 14:5bc7349d0e3b 17 void getAcc(float &x, float &y, float &z){
zhangyx 14:5bc7349d0e3b 18 x = acc[0];
zhangyx 14:5bc7349d0e3b 19 y = acc[1];
zhangyx 14:5bc7349d0e3b 20 z = acc[2];
zhangyx 14:5bc7349d0e3b 21 }
zhangyx 14:5bc7349d0e3b 22 void getGyo(float &x, float &y, float &z){
zhangyx 14:5bc7349d0e3b 23 x = gyo[0];
zhangyx 14:5bc7349d0e3b 24 y = gyo[1];
zhangyx 14:5bc7349d0e3b 25 z = gyo[2];
zhangyx 14:5bc7349d0e3b 26 }
zhangyx 14:5bc7349d0e3b 27 void getMag(float &x, float &y, float &z){
zhangyx 14:5bc7349d0e3b 28 x = mag[0];
zhangyx 14:5bc7349d0e3b 29 y = mag[1];
zhangyx 14:5bc7349d0e3b 30 z = mag[2];
zhangyx 14:5bc7349d0e3b 31 }
zhangyx 14:5bc7349d0e3b 32 void getAttitude(float &roll, float &pitch, float &yaw){
zhangyx 14:5bc7349d0e3b 33 roll = att[0];
zhangyx 14:5bc7349d0e3b 34 pitch = att[1];
zhangyx 14:5bc7349d0e3b 35 yaw = att[2];
zhangyx 14:5bc7349d0e3b 36 }
zhangyx 14:5bc7349d0e3b 37 };