Diff: 9dof.cpp

Revision:

0:ce49c05e9d73

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/9dof.cpp	Tue Feb 22 22:08:30 2011 +0000
@@ -0,0 +1,52 @@
+#include "9dof.h"
+
+dof9RazorImu::dof9RazorImu(PinName tx, PinName rx) 
+{
+    razor = new Serial(tx, rx);
+    razor->baud(BAUD_RATE);
+}
+
+void dof9RazorImu::update(void) 
+{
+  
+   if(DOFFW == 0){
+     razor->printf("4");
+        while (razor->getc() != '$');
+        razor->scanf(",%d,%d,%d", &acc_x, &acc_y, &acc_z);
+        razor->scanf(",%d,%d,%d", &gyro_x, &gyro_y, &gyro_z);
+        razor->scanf(",%d,%d,%d,#", &mag_x, &mag_y, &mag_z);
+    }else{
+        while (razor->getc() != '$');
+        razor->scanf(",%d,%d,%d", &gyro_x, &gyro_y, &gyro_z);
+        razor->scanf(",%d,%d,%d", &acc_x, &acc_y, &acc_z);    
+        razor->scanf(",%d,%d,%d,#", &mag_x, &mag_y, &mag_z);
+    }
+}
+
+
+int dof9RazorImu::getGyroX(void)
+{ return gyro_x; }
+
+int dof9RazorImu::getGyroY(void)
+{ return gyro_y; }
+
+int dof9RazorImu::getGyroZ(void)
+{ return gyro_z; }
+
+int dof9RazorImu::getAccX(void)
+{ return acc_x; }
+
+int dof9RazorImu::getAccY(void)
+{ return acc_x; }
+
+int dof9RazorImu::getAccZ(void)
+{ return acc_z; }
+
+int dof9RazorImu::getMagX(void)
+{ return mag_x; }
+
+int dof9RazorImu::getMagY(void)
+{ return mag_y; }
+
+int dof9RazorImu::getMagZ(void)
+{ return mag_z; }
\ No newline at end of file