Pedro Enrique Vidal Peñas / Mbed 2 deprecated quadcopter

Gestion de imu y arranque de motores cuadcopter primera fase

Dependencies:   mbed Servo

9dof.cpp@0:ce49c05e9d73, 2011-02-22 (annotated)

Committer:
cr0n0s20
Date:
Tue Feb 22 22:08:30 2011 +0000
Revision:
0:ce49c05e9d73
cuadcopter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cr0n0s20 0:ce49c05e9d73 1 #include "9dof.h"
cr0n0s20 0:ce49c05e9d73 2
cr0n0s20 0:ce49c05e9d73 3 dof9RazorImu::dof9RazorImu(PinName tx, PinName rx)
cr0n0s20 0:ce49c05e9d73 4 {
cr0n0s20 0:ce49c05e9d73 5 razor = new Serial(tx, rx);
cr0n0s20 0:ce49c05e9d73 6 razor->baud(BAUD_RATE);
cr0n0s20 0:ce49c05e9d73 7 }
cr0n0s20 0:ce49c05e9d73 8
cr0n0s20 0:ce49c05e9d73 9 void dof9RazorImu::update(void)
cr0n0s20 0:ce49c05e9d73 10 {
cr0n0s20 0:ce49c05e9d73 11
cr0n0s20 0:ce49c05e9d73 12 if(DOFFW == 0){
cr0n0s20 0:ce49c05e9d73 13 razor->printf("4");
cr0n0s20 0:ce49c05e9d73 14 while (razor->getc() != '$');
cr0n0s20 0:ce49c05e9d73 15 razor->scanf(",%d,%d,%d", &acc_x, &acc_y, &acc_z);
cr0n0s20 0:ce49c05e9d73 16 razor->scanf(",%d,%d,%d", &gyro_x, &gyro_y, &gyro_z);
cr0n0s20 0:ce49c05e9d73 17 razor->scanf(",%d,%d,%d,#", &mag_x, &mag_y, &mag_z);
cr0n0s20 0:ce49c05e9d73 18 }else{
cr0n0s20 0:ce49c05e9d73 19 while (razor->getc() != '$');
cr0n0s20 0:ce49c05e9d73 20 razor->scanf(",%d,%d,%d", &gyro_x, &gyro_y, &gyro_z);
cr0n0s20 0:ce49c05e9d73 21 razor->scanf(",%d,%d,%d", &acc_x, &acc_y, &acc_z);
cr0n0s20 0:ce49c05e9d73 22 razor->scanf(",%d,%d,%d,#", &mag_x, &mag_y, &mag_z);
cr0n0s20 0:ce49c05e9d73 23 }
cr0n0s20 0:ce49c05e9d73 24 }
cr0n0s20 0:ce49c05e9d73 25
cr0n0s20 0:ce49c05e9d73 26
cr0n0s20 0:ce49c05e9d73 27 int dof9RazorImu::getGyroX(void)
cr0n0s20 0:ce49c05e9d73 28 { return gyro_x; }
cr0n0s20 0:ce49c05e9d73 29
cr0n0s20 0:ce49c05e9d73 30 int dof9RazorImu::getGyroY(void)
cr0n0s20 0:ce49c05e9d73 31 { return gyro_y; }
cr0n0s20 0:ce49c05e9d73 32
cr0n0s20 0:ce49c05e9d73 33 int dof9RazorImu::getGyroZ(void)
cr0n0s20 0:ce49c05e9d73 34 { return gyro_z; }
cr0n0s20 0:ce49c05e9d73 35
cr0n0s20 0:ce49c05e9d73 36 int dof9RazorImu::getAccX(void)
cr0n0s20 0:ce49c05e9d73 37 { return acc_x; }
cr0n0s20 0:ce49c05e9d73 38
cr0n0s20 0:ce49c05e9d73 39 int dof9RazorImu::getAccY(void)
cr0n0s20 0:ce49c05e9d73 40 { return acc_x; }
cr0n0s20 0:ce49c05e9d73 41
cr0n0s20 0:ce49c05e9d73 42 int dof9RazorImu::getAccZ(void)
cr0n0s20 0:ce49c05e9d73 43 { return acc_z; }
cr0n0s20 0:ce49c05e9d73 44
cr0n0s20 0:ce49c05e9d73 45 int dof9RazorImu::getMagX(void)
cr0n0s20 0:ce49c05e9d73 46 { return mag_x; }
cr0n0s20 0:ce49c05e9d73 47
cr0n0s20 0:ce49c05e9d73 48 int dof9RazorImu::getMagY(void)
cr0n0s20 0:ce49c05e9d73 49 { return mag_y; }
cr0n0s20 0:ce49c05e9d73 50
cr0n0s20 0:ce49c05e9d73 51 int dof9RazorImu::getMagZ(void)
cr0n0s20 0:ce49c05e9d73 52 { return mag_z; }