IMUWheelchair.h

00001 #ifndef IMUWheelchair_H
00002 #define IMUWheelchair_H
00003 
00004 #include "filter.h"
00005 //#include  "mbed.h"
00006 #include  "math.h"
00007 #include  <MPU6050.h>
00008 
00009 #define PI 3.141593
00010 
00011 /*#define SDA D14
00012 #define SCL D15*/
00013 #define SDA PB_9
00014 #define SCL PB_8
00015 #define SAMPLEFREQ 50
00016 #define CAL_TIME 3
00017 
00018 class IMUWheelchair {
00019     public:
00020         //The constructor for this class
00021         IMUWheelchair(Serial* out, Timer* time);
00022         IMUWheelchair(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time);
00023         
00024         //Set up the IMU, check if it connects
00025         void setup();
00026         
00027         //Get the x-component of the angular acceleration
00028         double accel_x();
00029         
00030         //Get the y-component of the angular acceleration
00031         double accel_y();
00032         
00033         //Get the z-component of the angular acceleration
00034         double accel_z();
00035         
00036         //Get the x-component of gyro, angular velocity
00037         double gyro_x();
00038         
00039         //Get the y-component of gyro, angular velocity
00040         double gyro_y();
00041         
00042         //Get the z-component of gyro, angular velocity
00043         double gyro_z();
00044         
00045         //Magnometer to find angle relative to North to compare to gyroscope
00046         //double angle_north();
00047         
00048         //Get the YAW, or angle (theta), direction facing
00049         double yaw();
00050         
00051         //Get the pitch, (Up and down component)
00052         double pitch();
00053         
00054         //Get the roll, the tilt
00055         double roll();
00056   
00057         MPU6050* imu; //The IMU we're testing from, MPU6050  
00058         
00059     private:
00060         Serial* usb; //the connection port
00061         Timer* t;//to calculate the time
00062         float accelData[3];   // stores the angular acceleration component
00063         float gyroData[3];    //stores the gyro data x,y,z
00064         float* accelD;        //Pointer that points to either accelData 
00065         float* gyroD;         //Ptr to the gyroData array
00066         
00067         float angleData[3]; //Contains the pitch, roll, yaw angle
00068         float* angleD;//Ptr to angleData array
00069         
00070         void calibrate_yaw();
00071         
00072         bool start;
00073     
00074 };
00075 
00076 #endif