teamALI
/
HB2018
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Diff: Imu.h
- Revision:
- 18:5aa48aec9cae
- Parent:
- 17:f9610f3cfa1b
- Child:
- 19:4b0fe9a5ec38
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Imu.h Sat Dec 01 14:03:08 2018 +0000
@@ -0,0 +1,37 @@
+#ifndef __IMU_H__
+#define __IMU_H__
+
+#include <iostream>
+#include <vector>
+#include <string>
+#include <sstream>
+using namespace std;
+#include "mbed.h"
+#include "typedef.h"
+
+class Imu {
+private:
+ const float cGYRO_RESO=131.0;
+ Serial sp46Axis; //
+ INT16 gyroZ;
+ INT16 gyro_ref;
+ float yaw;
+ float yaw_ref;
+ float yawOfset;
+
+ //
+ void PushBuf(UCHAR rxChar);
+ void uartRxIntHndler46Axis();
+ float wrapAroungGuard(float iYaw);
+public:
+ Imu(PinName pinTx, PinName pinRx);
+ virtual ~Imu();
+ float GetGyroZ();
+ float GetYaw();
+ void CalYaw();
+ void CalGyro();
+};
+
+#endif
+
+