Diff: _var.h

Revision:

0:c3a27228c31b

Child:

1:b188e27eb7da

diff -r 000000000000 -r c3a27228c31b _var.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/_var.h	Mon Sep 30 08:00:47 2019 +0000
@@ -0,0 +1,30 @@
+I2C i2c(PB_9,PB_8);
+
+// Gyro Variables
+MPU6050 mpu;
+volatile bool mpuInterrupt = false;
+unsigned long savedMillis;
+bool gyroTurnMode = false;
+float zAngle = 0;
+float xAngle = 0;
+float preZAngle = 0;
+float preXAngle = 0;
+float startAngle = 0;
+unsigned long preGyroMillis = 0;
+
+// MPU control/status vars
+bool dmpReady = false; // set true if DMP init was successful
+uint8_t mpuIntStatus;  // holds actual interrupt status byte from MPU
+uint8_t devStatus;
+uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
+uint16_t fifoCount;
+uint8_t fifoBuffer[64];
+
+// orientation/motion vars
+Quaternion q;        // [w, x, y, z]         quaternion container
+VectorInt16 aa;      // [x, y, z]            accel sensor measurements
+VectorInt16 aaReal;  // [x, y, z]
+VectorInt16 aaWorld; // [x, y, z]
+VectorFloat gravity; // [x, y, z]            gravity vector
+float euler[3];      // [psi, theta, phi]    Euler angle container
+float ypr[3];        // [yaw, pitch, roll]
\ No newline at end of file