Terrabots / Mbed 2 deprecated IMU

General IMU Library

Dependencies:   mbed LSM9DS1_Library

IMU.h

Committer:
jcallahan1
Date:
2017-02-16
Revision:
2:ae1bfb236387
Parent:
0:0a3c6797d2ed
Child:
3:3b572eec3f20

File content as of revision 2:ae1bfb236387:

/**
*   @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