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Added the gyroscope frame, it has 2 bools which can be used to indica… #84

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Added the gyroscope frame, it has 2 bools which can be used to indica… #84

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18 changes: 18 additions & 0 deletions code/headers/frame_types.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ namespace r2d2 {
MAP_OBSTACLE,
END_EFFECTOR_TYPE,
END_EFFECTOR_CLAW,
GYROSCOPE,

// Don't touch
EXTERNAL,
Expand Down Expand Up @@ -633,6 +634,23 @@ namespace r2d2 {
uint8_t gas_id;
};

/*
* This frame will be send from the gyroscope module.
* It will if you want the gyroscope data or the acceleration data
* wiki page: https://github.com/R2D2-2019/R2D2-2019/wiki/Gyroscope
*/
R2D2_PACK_STRUCT
struct frame_gyroscope_s{
// bool to signal you want the gyroscope data
bool gyroscope;
// bool to signal you want the acceleration data
bool accel;
// the x, y and z variables that will be filled with the axis values from either gyroscope or the acceleration
int16_t x;
int16_t y;
int16_t z;
};

/*
* This is a frame that will be send to the sound module.
* It contains a simple rtttl string
Expand Down