Diff: Sensors/Orientation.h

Revision:

7:b33be863fbb5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/Orientation.h	Mon Jan 28 09:00:47 2019 +0000
@@ -0,0 +1,38 @@
+#include "mbed.h"
+#include "bmi160.h"
+#include "max32630fthr.h"
+#include "stdlib.h"
+
+
+
+#include "USBSerial.h"
+#include "math.h"
+
+
+
+void dumpImuRegisters(BMI160 &imu);
+void printRegister(BMI160 &imu, BMI160::Registers reg);
+void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg);
+void writeReg(BMI160 &imu, BMI160::Registers reg, uint8_t data);
+float compFilter(float K, float pitch, float gyroX, float accY, float accZ,float DT);
+
+
+class Orientation{
+    float pitch, time1, time2;
+    float k;
+    
+    
+    
+    
+    
+    
+    
+public:
+    void init();
+    float getPitch();
+    void updatePitch();
+     
+    
+};
+    
+