Package com.kauailabs.navx
Class IMUProtocol
java.lang.Object
com.kauailabs.navx.IMUProtocol
- Direct Known Subclasses:
AHRSProtocol
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Nested Class Summary
Nested ClassesModifier and TypeClassDescriptionstatic class
static class
static class
static class
static class
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Field Summary
FieldsModifier and TypeFieldDescriptionprotected static final byte[]
static final int
static final byte
static final byte
static final byte
static final byte
static final byte
static final short
static final short
static final short
static final short
static final byte
static final int
static final int
static final int
static final byte
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Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptionstatic void
byteToHex
(byte thebyte, byte[] dest, int offset) static int
decodeGyroUpdate
(byte[] buffer, int offset, int length, IMUProtocol.GyroUpdate u) static float
decodeProtocolFloat
(byte[] buffer, int offset) static short
decodeProtocolUint16
(byte[] uint16_string, int offset) static float
decodeProtocolUnsignedHundredthsFloat
(byte[] uint8_unsigned_hundredths_float, int offset) static int
decodeQuaternionUpdate
(byte[] buffer, int offset, int length, IMUProtocol.QuaternionUpdate u) static int
decodeStreamCommand
(byte[] buffer, int offset, int length, IMUProtocol.StreamCommand c) static int
decodeStreamResponse
(byte[] buffer, int offset, int length, IMUProtocol.StreamResponse r) static byte
decodeUint8
(byte[] checksum, int offset) static int
decodeYPRUpdate
(byte[] buffer, int offset, int length, IMUProtocol.YPRUpdate u) static int
encodeStreamCommand
(byte[] protocol_buffer, byte stream_type, byte update_rate_hz) static void
encodeTermination
(byte[] buffer, int total_length, int content_length) static boolean
verifyChecksum
(byte[] buffer, int offset, int content_length)
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Field Details
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PACKET_START_CHAR
public static final byte PACKET_START_CHAR- See Also:
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MSGID_YPR_UPDATE
public static final byte MSGID_YPR_UPDATE- See Also:
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MSGID_QUATERNION_UPDATE
public static final byte MSGID_QUATERNION_UPDATE- See Also:
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MSGID_GYRO_UPDATE
public static final byte MSGID_GYRO_UPDATE- See Also:
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MSGID_STREAM_CMD
public static final byte MSGID_STREAM_CMD- See Also:
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STREAM_CMD_STREAM_TYPE_YPR
public static final int STREAM_CMD_STREAM_TYPE_YPR- See Also:
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STREAM_CMD_STREAM_TYPE_QUATERNION
public static final int STREAM_CMD_STREAM_TYPE_QUATERNION- See Also:
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STREAM_CMD_STREAM_TYPE_GYRO
public static final int STREAM_CMD_STREAM_TYPE_GYRO- See Also:
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MSG_ID_STREAM_RESPONSE
public static final byte MSG_ID_STREAM_RESPONSE- See Also:
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STREAM_MSG_TERMINATION_CHAR
public static final byte STREAM_MSG_TERMINATION_CHAR- See Also:
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NAV6_FLAG_MASK_CALIBRATION_STATE
public static final short NAV6_FLAG_MASK_CALIBRATION_STATE- See Also:
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NAV6_CALIBRATION_STATE_WAIT
public static final short NAV6_CALIBRATION_STATE_WAIT- See Also:
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NAV6_CALIBRATION_STATE_ACCUMULATE
public static final short NAV6_CALIBRATION_STATE_ACCUMULATE- See Also:
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NAV6_CALIBRATION_STATE_COMPLETE
public static final short NAV6_CALIBRATION_STATE_COMPLETE- See Also:
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IMU_PROTOCOL_MAX_MESSAGE_LENGTH
public static final int IMU_PROTOCOL_MAX_MESSAGE_LENGTH- See Also:
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hexArray
protected static final byte[] hexArray
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Constructor Details
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IMUProtocol
public IMUProtocol()
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Method Details
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encodeStreamCommand
public static int encodeStreamCommand(byte[] protocol_buffer, byte stream_type, byte update_rate_hz) -
encodeTermination
public static void encodeTermination(byte[] buffer, int total_length, int content_length) -
byteToHex
public static void byteToHex(byte thebyte, byte[] dest, int offset) -
decodeProtocolUint16
public static short decodeProtocolUint16(byte[] uint16_string, int offset) -
decodeProtocolUnsignedHundredthsFloat
public static float decodeProtocolUnsignedHundredthsFloat(byte[] uint8_unsigned_hundredths_float, int offset) -
verifyChecksum
public static boolean verifyChecksum(byte[] buffer, int offset, int content_length) -
decodeUint8
public static byte decodeUint8(byte[] checksum, int offset) -
decodeProtocolFloat
public static float decodeProtocolFloat(byte[] buffer, int offset)
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