For nucleoF103 change sda,scl to PB_7,PB_6 Finish Delta Servo control with RS485, and IMU6050
Dependencies: MPU6050-DMP mbed ros_lib_kinetic
Fork of MPU6050_DMP_test_for1549 by
tiny_msgs/tinyVector.h
- Committer:
- WeberYang
- Date:
- 2018-04-12
- Revision:
- 2:648583d6e41a
File content as of revision 2:648583d6e41a:
#ifndef _ROS_tiny_msgs_tinyVector_h #define _ROS_tiny_msgs_tinyVector_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace tiny_msgs { class tinyVector : public ros::Msg { public: typedef int16_t _x_type; _x_type x; typedef int16_t _y_type; _y_type y; typedef int16_t _z_type; _z_type z; tinyVector(): x(0), y(0), z(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; union { int16_t real; uint16_t base; } u_x; u_x.real = this->x; *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF; offset += sizeof(this->x); union { int16_t real; uint16_t base; } u_y; u_y.real = this->y; *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF; offset += sizeof(this->y); union { int16_t real; uint16_t base; } u_z; u_z.real = this->z; *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF; offset += sizeof(this->z); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; union { int16_t real; uint16_t base; } u_x; u_x.base = 0; u_x.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); u_x.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); this->x = u_x.real; offset += sizeof(this->x); union { int16_t real; uint16_t base; } u_y; u_y.base = 0; u_y.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); u_y.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); this->y = u_y.real; offset += sizeof(this->y); union { int16_t real; uint16_t base; } u_z; u_z.base = 0; u_z.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); u_z.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); this->z = u_z.real; offset += sizeof(this->z); return offset; } const char * getType(){ return "tinyVector"; }; const char * getMD5(){ return "85729383565f7e059d4a213b3db1317b"; }; }; } #endif