Pedro Enrique Vidal Peñas
/
quadcopter
Gestion de imu y arranque de motores cuadcopter primera fase
Diff: 9dof.cpp
- Revision:
- 0:ce49c05e9d73
diff -r 000000000000 -r ce49c05e9d73 9dof.cpp --- /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