Revision 3:ba9da7dbbd9a, committed 2020-09-29

Comitter:

LVRhase01

Date:

Tue Sep 29 13:25:52 2020 +0000

Parent:

2:a93909601341

Commit message:

Add 0-point setting for Yaw axis and 6-axis mode code

Changed in this revision

--- a/jy901.cpp	Wed Aug 23 06:14:28 2017 +0000
+++ b/jy901.cpp	Tue Sep 29 13:25:52 2020 +0000
@@ -27,6 +27,18 @@
     char calibrationRegistar[3]= {CALSW,0x00,0x00};
     write(IICADDR,calibrationRegistar,3,false);
 }
+//ここより下は長谷川が追加しました。不必要な場合は教えてください。2020/09/29
+void JY901::yawcalibrate()
+{
+    char calibrationRegistar[3]= {0x01,0x04,0x00};
+    write(IICADDR,calibrationRegistar,3,false);
+}
+
+void JY901::algorithmtrasition()
+{
+    char calibrationRegistar[3]= {0x24,0x01,0x00};
+    write(IICADDR,calibrationRegistar,3,false);
+}
 
 void JY901::calibrateAll(int time)
 {
@@ -37,6 +49,11 @@
     calibrateHeight();
     wait_ms(time);
     endCalibrate();
+    wait_ms(time);
+    algorithmtrasition();
+    wait_ms(time);
+    yawcalibrate();
+    
 }
 
 float JY901::getXaxisAcceleration()
@@ -120,3 +137,4 @@
     read(IICADDR,data,2,false);
     return data;
 }
+

--- a/jy901.h	Wed Aug 23 06:14:28 2017 +0000
+++ b/jy901.h	Tue Sep 29 13:25:52 2020 +0000
@@ -39,6 +39,12 @@
     /** calibrate Gyroscope, Accelerometer and Magnetic
      *  set height to 0
      */
+    void yawcalibrate();
+    // reset yawaxis 
+    
+    void algorithmtrasition();
+    //change 6 axis
+    
     void calibrateAll(int time);
 
     /** return XaxisAcceleration