Diff: sensor/gyroscope/Gyroscope.cpp

Revision:

3:f67352c85fd7

Child:

5:fa36c3288be8

diff -r 144ca70fa39a -r f67352c85fd7 sensor/gyroscope/Gyroscope.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor/gyroscope/Gyroscope.cpp	Thu Jun 20 12:29:07 2019 -0300
@@ -0,0 +1,36 @@
+#include "sgam_mdw.h"
+#include "mbed.h"
+#include "MPU6050.h"
+#include "Gyroscope.h"
+
+Gyroscope::Gyroscope(I2C &i2c): mpu(i2c, MPU6050_ADDRESS_AD0_LOW) { 
+    mpu.initialize();
+
+    if( mpu.testConnection() ) {
+        LOG("Giroscope Initialized !!\r\n");
+    } else {
+        LOG("There's an error trying initialize the Gyroscope !!\r\n");
+    }
+
+    value = new GyroscopeData();
+}
+
+Gyroscope::~Gyroscope() {
+    value->~GyroscopeData();
+}
+
+void Gyroscope::getMotion(GyroscopeData* data) {
+    mpu.getMotion6(
+        &data->ax, &data->ay, &data->az,
+        &data->gx, &data->gy, &data->gz
+    );
+}
+
+GyroscopeData* Gyroscope::getValue() {
+    getMotion(value);
+    return value;
+}
+
+char* Gyroscope::getName() { 
+    return (char*)"Gyroscope"; 
+}