![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Final Tree
Dependencies: mbed BMI160 max32630fthr_pitch USBDevice Math
Diff: Sensors/Orientation.h
- Revision:
- 7:b33be863fbb5
diff -r ee03dafaa43f -r b33be863fbb5 Sensors/Orientation.h --- /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(); + + +}; + +