Diff: IMU6050/IMUWheelchair.h

Revision:

13:d66766523196

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU6050/IMUWheelchair.h	Wed Jul 03 22:09:33 2019 +0000
@@ -0,0 +1,76 @@
+#ifndef IMUWheelchair_H
+#define IMUWheelchair_H
+
+#include "filter.h"
+//#include  "mbed.h"
+#include  "math.h"
+#include  <MPU6050.h>
+
+#define PI 3.141593
+
+/*#define SDA D14
+#define SCL D15*/
+#define SDA PB_9
+#define SCL PB_8
+#define SAMPLEFREQ 50
+#define CAL_TIME 3
+
+class IMUWheelchair {
+    public:
+        //The constructor for this class
+        IMUWheelchair(Serial* out, Timer* time);
+        IMUWheelchair(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time);
+        
+        //Set up the IMU, check if it connects
+        void setup();
+        
+        //Get the x-component of the angular acceleration
+        double accel_x();
+        
+        //Get the y-component of the angular acceleration
+        double accel_y();
+        
+        //Get the z-component of the angular acceleration
+        double accel_z();
+        
+        //Get the x-component of gyro, angular velocity
+        double gyro_x();
+        
+        //Get the y-component of gyro, angular velocity
+        double gyro_y();
+        
+        //Get the z-component of gyro, angular velocity
+        double gyro_z();
+        
+        //Magnometer to find angle relative to North to compare to gyroscope
+        //double angle_north();
+        
+        //Get the YAW, or angle (theta), direction facing
+        double yaw();
+        
+        //Get the pitch, (Up and down component)
+        double pitch();
+        
+        //Get the roll, the tilt
+        double roll();
+  
+        MPU6050* imu; //The IMU we're testing from, MPU6050  
+        
+    private:
+        Serial* usb; //the connection port
+        Timer* t;//to calculate the time
+        float accelData[3];   // stores the angular acceleration component
+        float gyroData[3];    //stores the gyro data x,y,z
+        float* accelD;        //Pointer that points to either accelData 
+        float* gyroD;         //Ptr to the gyroData array
+        
+        float angleData[3]; //Contains the pitch, roll, yaw angle
+        float* angleD;//Ptr to angleData array
+        
+        void calibrate_yaw();
+        
+        bool start;
+    
+};
+
+#endif
\ No newline at end of file