Revision b4885314 components/ControllerAreaNetworkRx.cpp
| components/ControllerAreaNetworkRx.cpp | ||
|---|---|---|
| 99 | 99 |
} |
| 100 | 100 |
break; |
| 101 | 101 |
|
| 102 |
case CAN::MAGNETOMETER_X_ID: |
|
| 103 |
if (frame->DLC == 4) {
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magnetometerValue[0] = frame->data32[0]; |
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return RDY_OK; |
|
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} |
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break; |
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| 108 |
|
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case CAN::MAGNETOMETER_Y_ID: |
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if (frame->DLC == 4) {
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magnetometerValue[1] = frame->data32[0]; |
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return RDY_OK; |
|
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} |
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break; |
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|
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case CAN::MAGNETOMETER_Z_ID: |
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if (frame->DLC == 4) {
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magnetometerValue[2] = frame->data32[0]; |
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return RDY_OK; |
|
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} |
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break; |
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|
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case CAN::GYROSCOPE_ID: |
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if (frame->DLC == 6) {
|
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gyroscopeValue[0] = frame->data16[0]; |
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gyroscopeValue[1] = frame->data16[1]; |
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gyroscopeValue[2] = frame->data16[2]; |
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return RDY_OK; |
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} |
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break; |
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|
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| 102 | 132 |
default: |
| 103 | 133 |
break; |
| 104 | 134 |
} |
| ... | ... | |
| 127 | 157 |
return this->robotId; |
| 128 | 158 |
} |
| 129 | 159 |
|
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int32_t ControllerAreaNetworkRx::getMagnetometerValue(int axis) |
|
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{
|
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return this->magnetometerValue[axis]; |
|
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} |
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|
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int16_t ControllerAreaNetworkRx::getGyroscopeValue(int axis) |
|
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{
|
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return this->gyroscopeValue[axis]; |
|
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} |
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|
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| 130 | 170 |
|
| 131 | 171 |
uint16_t ControllerAreaNetworkRx::getProximityFloorValue(int index) {
|
| 132 | 172 |
return this->proximityFloorValue[index]; |
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