島根短大 ライントレーサ制作チーム
I2C通信を使用した角速度測定、LCD表示サンプル
Dependencies: mbed mbed_mpu6050_i2c_raw_register AQM0802
Diff: MPU6050/mpu6050.h
- Revision:
- 4:bf507fe18cb2
- Parent:
- 1:6f743fe9a027
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050/mpu6050.h Fri Jul 19 10:37:29 2019 +0000
@@ -0,0 +1,39 @@
+#include "mbed.h"
+
+#ifndef MPU6050_H
+#define MPU6050_H
+
+enum {
+ MAX_ACC_2G,
+ MAX_ACC_4G,
+ MAX_ACC_8G,
+ MAX_ACC_16G,
+};
+
+enum {
+ MAX_GYRO_250degpersec,
+ MAX_GYRO_500degpersec,
+ MAX_GYRO_1000degpersec,
+ MAX_GYRO_2000degpersec,
+};
+
+class MPU6050
+{
+public:
+ MPU6050(PinName i2c_sda, PinName i2c_scl);
+ ~MPU6050();
+ void readAccelemeter(double &acc_x, double &acc_y, double &acc_z);
+ void readGyroscope(double &gyro_x, double &gyro_y, double &gyro_z);
+ void setMaxScale(int max_acc, int max_gyro);
+ void getMaxScale(int &acc, int &gyro);
+ void setSleep(bool sleep);
+private:
+ I2C i2c;
+ int address;
+ double rate_accelemeter;
+ double rate_gyroscope;
+ char readByte(char reg);
+ void writeByte(char reg, char data);
+};
+
+#endif // MPU6050_H