Affordable Smart Wheelchair / IMU6050Ver11

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IMU6050/IMUWheelchair.h@17:f2e2692762ac, 2019-07-09 (annotated)

Committer:
JesiMiranda
Date:
Tue Jul 09 23:36:51 2019 +0000
Revision:
17:f2e2692762ac
Parent:
13:d66766523196 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
jahutchi 13:d66766523196 1 #ifndef IMUWheelchair_H
jahutchi 13:d66766523196 2 #define IMUWheelchair_H
jahutchi 13:d66766523196 3
jahutchi 13:d66766523196 4 #include "filter.h"
jahutchi 13:d66766523196 5 //#include "mbed.h"
jahutchi 13:d66766523196 6 #include "math.h"
jahutchi 13:d66766523196 7 #include <MPU6050.h>
jahutchi 13:d66766523196 8
jahutchi 13:d66766523196 9 #define PI 3.141593
jahutchi 13:d66766523196 10
jahutchi 13:d66766523196 11 /*#define SDA D14
jahutchi 13:d66766523196 12 #define SCL D15*/
jahutchi 13:d66766523196 13 #define SDA PB_9
jahutchi 13:d66766523196 14 #define SCL PB_8
jahutchi 13:d66766523196 15 #define SAMPLEFREQ 50
jahutchi 13:d66766523196 16 #define CAL_TIME 3
jahutchi 13:d66766523196 17
jahutchi 13:d66766523196 18 class IMUWheelchair {
jahutchi 13:d66766523196 19 public:
jahutchi 13:d66766523196 20 //The constructor for this class
jahutchi 13:d66766523196 21 IMUWheelchair(Serial* out, Timer* time);
jahutchi 13:d66766523196 22 IMUWheelchair(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time);
jahutchi 13:d66766523196 23
jahutchi 13:d66766523196 24 //Set up the IMU, check if it connects
jahutchi 13:d66766523196 25 void setup();
jahutchi 13:d66766523196 26
jahutchi 13:d66766523196 27 //Get the x-component of the angular acceleration
jahutchi 13:d66766523196 28 double accel_x();
jahutchi 13:d66766523196 29
jahutchi 13:d66766523196 30 //Get the y-component of the angular acceleration
jahutchi 13:d66766523196 31 double accel_y();
jahutchi 13:d66766523196 32
jahutchi 13:d66766523196 33 //Get the z-component of the angular acceleration
jahutchi 13:d66766523196 34 double accel_z();
jahutchi 13:d66766523196 35
jahutchi 13:d66766523196 36 //Get the x-component of gyro, angular velocity
jahutchi 13:d66766523196 37 double gyro_x();
jahutchi 13:d66766523196 38
jahutchi 13:d66766523196 39 //Get the y-component of gyro, angular velocity
jahutchi 13:d66766523196 40 double gyro_y();
jahutchi 13:d66766523196 41
jahutchi 13:d66766523196 42 //Get the z-component of gyro, angular velocity
jahutchi 13:d66766523196 43 double gyro_z();
jahutchi 13:d66766523196 44
jahutchi 13:d66766523196 45 //Magnometer to find angle relative to North to compare to gyroscope
jahutchi 13:d66766523196 46 //double angle_north();
jahutchi 13:d66766523196 47
jahutchi 13:d66766523196 48 //Get the YAW, or angle (theta), direction facing
jahutchi 13:d66766523196 49 double yaw();
jahutchi 13:d66766523196 50
jahutchi 13:d66766523196 51 //Get the pitch, (Up and down component)
jahutchi 13:d66766523196 52 double pitch();
jahutchi 13:d66766523196 53
jahutchi 13:d66766523196 54 //Get the roll, the tilt
jahutchi 13:d66766523196 55 double roll();
jahutchi 13:d66766523196 56
jahutchi 13:d66766523196 57 MPU6050* imu; //The IMU we're testing from, MPU6050
jahutchi 13:d66766523196 58
jahutchi 13:d66766523196 59 private:
jahutchi 13:d66766523196 60 Serial* usb; //the connection port
jahutchi 13:d66766523196 61 Timer* t;//to calculate the time
jahutchi 13:d66766523196 62 float accelData[3]; // stores the angular acceleration component
jahutchi 13:d66766523196 63 float gyroData[3]; //stores the gyro data x,y,z
jahutchi 13:d66766523196 64 float* accelD; //Pointer that points to either accelData
jahutchi 13:d66766523196 65 float* gyroD; //Ptr to the gyroData array
jahutchi 13:d66766523196 66
jahutchi 13:d66766523196 67 float angleData[3]; //Contains the pitch, roll, yaw angle
jahutchi 13:d66766523196 68 float* angleD;//Ptr to angleData array
jahutchi 13:d66766523196 69
jahutchi 13:d66766523196 70 void calibrate_yaw();
jahutchi 13:d66766523196 71
jahutchi 13:d66766523196 72 bool start;
jahutchi 13:d66766523196 73
jahutchi 13:d66766523196 74 };
jahutchi 13:d66766523196 75
jahutchi 13:d66766523196 76 #endif