AkashiRobo
/
arrc_mbed
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Dependencies: mbed
Diff: gy521.hpp
- Revision:
- 0:ca84ed7518f5
- Child:
- 3:28c77df7c0b6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/gy521.hpp Thu Jan 02 09:30:06 2020 +0000
@@ -0,0 +1,40 @@
+#ifndef GY521_H
+#define GY521_H
+#include "mbed.h"
+
+/*GY521を使う。
+ *I2Cオブジェクトを渡す
+ *GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
+ *example
+ *L432KC : SDA = PB_7 , SCL = PB_6
+ *F446RE : SDA = PB_3 , SCL = PB_10
+ */
+//I2C i2c(SDA,SCL);
+//GY521 gyro(i2c);
+
+class GY521{
+public:
+ GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
+ double yaw;
+ //double temp;
+ void updata();
+ void reset(int user);
+ void start(double start = 0){
+ yaw = start;
+ }
+ double checkStatus(int mode);
+private:
+ I2C &i2c_;
+ Timer timer_;
+ int16_t gyroRead2(enum GY521RegisterMap reg);
+ double gyro_z_aver_;
+ double gyro_z_now_;
+ double gyro_z_prev_;
+ double gyro_LSB_;
+ double diff_yaw_;
+ int bit_;
+ int calibration_;
+ bool flag_;
+};
+
+#endif /* GY521_H */
\ No newline at end of file