go-roboB / Mbed 2 deprecated arrc_mbed

明石高専ロボ研 mbedライブラリ

Dependencies:   mbed

gy521.hpp@0:ca84ed7518f5, 2020-01-02 (annotated)

Committer:
TanakaRobo
Date:
Thu Jan 02 09:30:06 2020 +0000
Revision:
0:ca84ed7518f5
Child:
3:28c77df7c0b6
buffered serial before test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaRobo 0:ca84ed7518f5 1 #ifndef GY521_H
TanakaRobo 0:ca84ed7518f5 2 #define GY521_H
TanakaRobo 0:ca84ed7518f5 3 #include "mbed.h"
TanakaRobo 0:ca84ed7518f5 4
TanakaRobo 0:ca84ed7518f5 5 /*GY521を使う。
TanakaRobo 0:ca84ed7518f5 6 *I2Cオブジェクトを渡す
TanakaRobo 0:ca84ed7518f5 7 *GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
TanakaRobo 0:ca84ed7518f5 8 *example
TanakaRobo 0:ca84ed7518f5 9 *L432KC : SDA = PB_7 , SCL = PB_6
TanakaRobo 0:ca84ed7518f5 10 *F446RE : SDA = PB_3 , SCL = PB_10
TanakaRobo 0:ca84ed7518f5 11 */
TanakaRobo 0:ca84ed7518f5 12 //I2C i2c(SDA,SCL);
TanakaRobo 0:ca84ed7518f5 13 //GY521 gyro(i2c);
TanakaRobo 0:ca84ed7518f5 14
TanakaRobo 0:ca84ed7518f5 15 class GY521{
TanakaRobo 0:ca84ed7518f5 16 public:
TanakaRobo 0:ca84ed7518f5 17 GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
TanakaRobo 0:ca84ed7518f5 18 double yaw;
TanakaRobo 0:ca84ed7518f5 19 //double temp;
TanakaRobo 0:ca84ed7518f5 20 void updata();
TanakaRobo 0:ca84ed7518f5 21 void reset(int user);
TanakaRobo 0:ca84ed7518f5 22 void start(double start = 0){
TanakaRobo 0:ca84ed7518f5 23 yaw = start;
TanakaRobo 0:ca84ed7518f5 24 }
TanakaRobo 0:ca84ed7518f5 25 double checkStatus(int mode);
TanakaRobo 0:ca84ed7518f5 26 private:
TanakaRobo 0:ca84ed7518f5 27 I2C &i2c_;
TanakaRobo 0:ca84ed7518f5 28 Timer timer_;
TanakaRobo 0:ca84ed7518f5 29 int16_t gyroRead2(enum GY521RegisterMap reg);
TanakaRobo 0:ca84ed7518f5 30 double gyro_z_aver_;
TanakaRobo 0:ca84ed7518f5 31 double gyro_z_now_;
TanakaRobo 0:ca84ed7518f5 32 double gyro_z_prev_;
TanakaRobo 0:ca84ed7518f5 33 double gyro_LSB_;
TanakaRobo 0:ca84ed7518f5 34 double diff_yaw_;
TanakaRobo 0:ca84ed7518f5 35 int bit_;
TanakaRobo 0:ca84ed7518f5 36 int calibration_;
TanakaRobo 0:ca84ed7518f5 37 bool flag_;
TanakaRobo 0:ca84ed7518f5 38 };
TanakaRobo 0:ca84ed7518f5 39
TanakaRobo 0:ca84ed7518f5 40 #endif /* GY521_H */