C# (CSharp) YPRUpdateの例

コード例 #1

        public static int decodeYPRUpdate(byte[] buffer, int offset, int length, YPRUpdate u)
        {
            if (length < YPR_UPDATE_MESSAGE_LENGTH)
            {
                return(0);
            }
            if ((buffer[offset + 0] == '!') && (buffer[offset + 1] == 'y'))
            {
                if (!verifyChecksum(buffer, offset, YPR_UPDATE_CHECKSUM_INDEX))
                {
                    return(0);
                }

                u.yaw             = decodeProtocolFloat(buffer, offset + YPR_UPDATE_YAW_VALUE_INDEX);
                u.pitch           = decodeProtocolFloat(buffer, offset + YPR_UPDATE_PITCH_VALUE_INDEX);
                u.roll            = decodeProtocolFloat(buffer, offset + YPR_UPDATE_ROLL_VALUE_INDEX);
                u.compass_heading = decodeProtocolFloat(buffer, offset + YPR_UPDATE_COMPASS_VALUE_INDEX);
                return(YPR_UPDATE_MESSAGE_LENGTH);
            }
            return(0);
        }

コード例 #2

ファイル: IMUProtocol.cs プロジェクト: chopshop-166/WPILib

        public static int decodeYPRUpdate(byte[] buffer, int offset, int length, YPRUpdate u)
        {
            if (length < YPR_UPDATE_MESSAGE_LENGTH)
            {
                return 0;
            }
            if ((buffer[offset + 0] == '!') && (buffer[offset + 1] == 'y'))
            {
                if (!verifyChecksum(buffer, offset, YPR_UPDATE_CHECKSUM_INDEX))
                {
                    return 0;
                }

                u.yaw = decodeProtocolFloat(buffer, offset + YPR_UPDATE_YAW_VALUE_INDEX);
                u.pitch = decodeProtocolFloat(buffer, offset + YPR_UPDATE_PITCH_VALUE_INDEX);
                u.roll = decodeProtocolFloat(buffer, offset + YPR_UPDATE_ROLL_VALUE_INDEX);
                u.compass_heading = decodeProtocolFloat(buffer, offset + YPR_UPDATE_COMPASS_VALUE_INDEX);
                return YPR_UPDATE_MESSAGE_LENGTH;
            }
            return 0;
        }