Revision 0:609146aec0da, committed 2015-03-14

Comitter:

SWteamofAREC

Date:

Sat Mar 14 02:45:00 2015 +0000

Commit message:

NT-ARSV1

Changed in this revision

diff -r 000000000000 -r 609146aec0da ARS.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ARS.cpp	Sat Mar 14 02:45:00 2015 +0000
@@ -0,0 +1,94 @@
+#include "ARS.h"
+
+
+ARS::ARS(PinName tx,PinName rx) : _ARS(tx,rx)
+{
+    rollAngle=0;
+    pitchAngle=0;
+    rollVel=0;
+    pitchVel=0;
+} //생성자
+
+void ARS::set(int baudRate=115200)
+{
+    _ARS.baud(baudRate);
+    _ARS.printf("<CAH>");
+}
+
+void ARS::getdata() //데이터를 한줄만 받는다.
+{
+    char incomingByte=0;
+    int resultValues=0;
+    int consideringMinusSign=1;
+    int selectingValuesFromARS=0;
+
+
+    while(true) {
+
+        incomingByte=_ARS.getc();
+
+        // Operation minus sign.
+        if(incomingByte == '-') {
+            consideringMinusSign = -1;
+        }
+
+        //Operation number type
+        if(incomingByte >= '0' && incomingByte <= '9') {
+            resultValues = resultValues*10 + incomingByte - '0';
+        }
+
+        //Operation end of data
+        if(incomingByte == ',' || incomingByte == '>') {
+            resultValues = resultValues * consideringMinusSign;
+            consideringMinusSign = 1; //next calculation, using plus sign
+            selectingValuesFromARS += 1;  //increase the var.
+
+            switch(selectingValuesFromARS) {
+                case 1 : // getting roll angle as degree
+                    rollAngle = resultValues * scaleFactorOfARS * rad2degree;
+                    break;
+                case 2 : // getting pitch angle as degree
+                    pitchAngle = resultValues * scaleFactorOfARS * rad2degree;
+                    break;
+                case 3 : // getting roll anglular velocity as degree
+                    rollVel = resultValues * scaleFactorOfARS * rad2degree;
+                    break;
+
+                case 4 : // getting pitch anglular velocity as degree
+                    pitchVel = resultValues * scaleFactorOfARS * rad2degree;
+                    break;
+            }
+            resultValues = 0; //initializing the number.
+        }
+        if (incomingByte == '>') {
+            selectingValuesFromARS +=1;
+        }
+        if (selectingValuesFromARS == 5) {
+            selectingValuesFromARS=0;
+            break;
+        }
+
+    }
+}
+
+
+
+float ARS::getrollangle()
+{
+    return rollAngle;
+}
+
+float ARS::getpitchangle()
+{
+    return pitchAngle;
+}
+
+float ARS::getrollvel()
+{
+    return rollVel;
+}
+
+float ARS::getpitchvel()
+{
+    return pitchVel;
+}

diff -r 000000000000 -r 609146aec0da ARS.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ARS.h	Sat Mar 14 02:45:00 2015 +0000
@@ -0,0 +1,34 @@
+#ifndef MBED_ARSv1_H
+#define MBED_ARSv1_H
+#include "mbed.h"
+#include <iostream>
+#define READBUFFERSIZE (32)
+#define rad2degree (57.29579143)
+#define scaleFactorOfARS (0.001)// The output values of NT-ARSv1 are 1000 times in radians
+using namespace std;
+    
+
+class ARS
+{
+    public:
+    ARS(PinName tx,PinName rx);
+    //생성자 
+    float getrollangle();
+    float getpitchangle();
+    float getrollvel();
+    float getpitchvel();
+    void getdata();
+    void set(int baudRate);
+    
+    
+    protected:
+    Serial _ARS;
+
+    float rollAngle;
+    float pitchAngle;
+    float rollVel;
+    float pitchVel; 
+
+};
+
+#endif