R1370 library only get gyro
Dependents: quadOmni_yanagi R1370 gyro_test wheel_test3 wheel_test3 ... more
Fork of R1307 by
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?
User | Revision | Line number | New 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 | } |