T Nara / R1370

R1370 library only get gyro

Dependents:   quadOmni_yanagi R1370 gyro_test wheel_test3 wheel_test3 ... more

Fork of R1307 by Wataru Nakata

R1370.cpp@1:7d164124328b, 2017-09-02 (annotated)

Committer:
tknara
Date:
Sat Sep 02 10:02:27 2017 +0000
Revision:
1:7d164124328b
Child:
2:30d8a4f08cbd
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
tknara 1:7d164124328b 1 #include "R1370.h"
tknara 1:7d164124328b 2
tknara 1:7d164124328b 3 R1370::R1370(PinName Tx,PinName Rx):serial(Tx,Rx)
tknara 1:7d164124328b 4 {
tknara 1:7d164124328b 5 R1370::serial.baud(115200);
tknara 1:7d164124328b 6 }
tknara 1:7d164124328b 7 int R1370::R1370State()
tknara 1:7d164124328b 8 {
tknara 1:7d164124328b 9 int i;
tknara 1:7d164124328b 10 if((data[0]=serial.getc())==0xAA){
tknara 1:7d164124328b 11 for(i = 1;i < 15;i++) {
tknara 1:7d164124328b 12 data[i] = serial.getc();
tknara 1:7d164124328b 13 }
tknara 1:7d164124328b 14 angle = ((data[3]&0xFF)|((data[4]<<8)&0xFF00));
tknara 1:7d164124328b 15 gyro = angle/100.0;
tknara 1:7d164124328b 16 return 0;
tknara 1:7d164124328b 17 }else{
tknara 1:7d164124328b 18 return 1;
tknara 1:7d164124328b 19 }
tknara 1:7d164124328b 20 }
tknara 1:7d164124328b 21 float R1370::getAngle()
tknara 1:7d164124328b 22 {
tknara 1:7d164124328b 23 return gyro;
tknara 1:7d164124328b 24 }