General IMU Library
Dependencies: mbed LSM9DS1_Library
Diff: IMU.h
- Revision:
- 2:ae1bfb236387
- Parent:
- 0:0a3c6797d2ed
- Child:
- 3:3b572eec3f20
--- a/IMU.h Thu Feb 09 20:14:25 2017 +0000 +++ b/IMU.h Thu Feb 16 18:25:00 2017 +0000 @@ -0,0 +1,49 @@ +/** +* @file IMU.h +* +* @brief Class for reading the accelerometer +* +* @author Terrabots Team +* +*/ + +#ifndef IMU_H +#define IMU_H + +#include "mbed.h" +#include "LSM9DS1.h" + +class IMU { + public: + /** + * Constructor for the IMU + * + * @param[in] _state + */ + IMU(); + IMU() : _I(p9, p10, 0xD6, 0x3C){}; + /** + * Track the angle of the truck bed + */ + void trackBed(); + /** + * Track the angle of the truck as it moves + */ + void trackHeading(); + + private: + bool state; + float ax01; + float ay01; + float az01; + float ax0; + float ay0; + float az0; + float ax; + float ay; + float az; + float theta; + LSM9DS1 _I; +}; + +#endif \ No newline at end of file