haruki hasegawa / jy901

change code by hasegawa

Dependents:   haseomni_main

jy901.h@3:ba9da7dbbd9a, 2020-09-29 (annotated)

Committer:
LVRhase01
Date:
Tue Sep 29 13:25:52 2020 +0000
Revision:
3:ba9da7dbbd9a
Parent:
2:a93909601341 
Add 0-point setting for Yaw axis and 6-axis mode code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
number_key 0:f80d034ed481 1 #ifndef MBED_JY901_H
number_key 0:f80d034ed481 2 #define MBED_JY901_H
number_key 0:f80d034ed481 3
number_key 0:f80d034ed481 4 #include "mbed.h"
number_key 0:f80d034ed481 5 #include "jy901_def.h"
number_key 0:f80d034ed481 6
number_key 2:a93909601341 7 /** jy901 class.
number_key 2:a93909601341 8 * Can measure acceleration, angular Velocity, magnetic and Angle.
number_key 2:a93909601341 9 *
number_key 2:a93909601341 10 */
number_key 2:a93909601341 11
number_key 0:f80d034ed481 12
number_key 0:f80d034ed481 13 class JY901 : public I2C
number_key 0:f80d034ed481 14 {
number_key 1:60d4e2eb6952 15 public:
number_key 1:60d4e2eb6952 16
number_key 1:60d4e2eb6952 17 /**
number_key 1:60d4e2eb6952 18 * @param sda
number_key 1:60d4e2eb6952 19 * @param scl
number_key 1:60d4e2eb6952 20 */
number_key 0:f80d034ed481 21 JY901(PinName sda, PinName scl);
number_key 0:f80d034ed481 22
number_key 1:60d4e2eb6952 23 /** calibrate Gyroscope and Accelerometer
number_key 1:60d4e2eb6952 24 */
number_key 0:f80d034ed481 25 void calibrateGyroAccel();
number_key 1:60d4e2eb6952 26
number_key 1:60d4e2eb6952 27 /** calibrate Magnetic
number_key 1:60d4e2eb6952 28 */
number_key 0:f80d034ed481 29 void calibrateMagnetic();
number_key 1:60d4e2eb6952 30
number_key 1:60d4e2eb6952 31 /** set height to 0
number_key 1:60d4e2eb6952 32 */
number_key 0:f80d034ed481 33 void calibrateHeight();
number_key 1:60d4e2eb6952 34
number_key 1:60d4e2eb6952 35 /** end calibration mode
number_key 1:60d4e2eb6952 36 */
number_key 0:f80d034ed481 37 void endCalibrate();
number_key 1:60d4e2eb6952 38
number_key 1:60d4e2eb6952 39 /** calibrate Gyroscope, Accelerometer and Magnetic
number_key 1:60d4e2eb6952 40 * set height to 0
number_key 1:60d4e2eb6952 41 */
LVRhase01 3:ba9da7dbbd9a 42 void yawcalibrate();
LVRhase01 3:ba9da7dbbd9a 43 // reset yawaxis
LVRhase01 3:ba9da7dbbd9a 44
LVRhase01 3:ba9da7dbbd9a 45 void algorithmtrasition();
LVRhase01 3:ba9da7dbbd9a 46 //change 6 axis
LVRhase01 3:ba9da7dbbd9a 47
number_key 0:f80d034ed481 48 void calibrateAll(int time);
number_key 1:60d4e2eb6952 49
number_key 1:60d4e2eb6952 50 /** return XaxisAcceleration
number_key 1:60d4e2eb6952 51 */
number_key 0:f80d034ed481 52 float getXaxisAcceleration();
number_key 2:a93909601341 53
number_key 1:60d4e2eb6952 54 /** return YaxisAcceleration
number_key 1:60d4e2eb6952 55 */
number_key 0:f80d034ed481 56 float getYaxisAcceleration();
number_key 2:a93909601341 57
number_key 1:60d4e2eb6952 58 /** return ZaxisAcceleration
number_key 1:60d4e2eb6952 59 */
number_key 0:f80d034ed481 60 float getZaxisAcceleration();
number_key 2:a93909601341 61
number_key 1:60d4e2eb6952 62 /** return XaxisAngularVelocity
number_key 1:60d4e2eb6952 63 */
number_key 0:f80d034ed481 64 float getXaxisAngularVelocity();
number_key 2:a93909601341 65
number_key 1:60d4e2eb6952 66 /** return YaxisAngularVelocity
number_key 1:60d4e2eb6952 67 */
number_key 0:f80d034ed481 68 float getYaxisAngularVelocity();
number_key 2:a93909601341 69
number_key 1:60d4e2eb6952 70 /** return ZaxisAngularVelocity
number_key 1:60d4e2eb6952 71 */
number_key 0:f80d034ed481 72 float getZaxisAngularVelocity();
number_key 2:a93909601341 73
number_key 1:60d4e2eb6952 74 /** return XaxisMagnetic
number_key 1:60d4e2eb6952 75 */
number_key 0:f80d034ed481 76 float getXaxisMagnetic();
number_key 2:a93909601341 77
number_key 1:60d4e2eb6952 78 /** return YaxisMagnetic
number_key 1:60d4e2eb6952 79 */
number_key 0:f80d034ed481 80 float getYaxisMagnetic();
number_key 2:a93909601341 81
number_key 1:60d4e2eb6952 82 /** return ZaxisMagnetic
number_key 1:60d4e2eb6952 83 */
number_key 0:f80d034ed481 84 float getZaxisMagnetic();
number_key 2:a93909601341 85
number_key 1:60d4e2eb6952 86 /** return XaxisAngle
number_key 1:60d4e2eb6952 87 */
number_key 0:f80d034ed481 88 float getXaxisAngle();
number_key 2:a93909601341 89
number_key 1:60d4e2eb6952 90 /** return YaxisAngle
number_key 1:60d4e2eb6952 91 */
number_key 0:f80d034ed481 92 float getYaxisAngle();
number_key 2:a93909601341 93
number_key 1:60d4e2eb6952 94 /** return ZaxisAngle
number_key 1:60d4e2eb6952 95 */
number_key 0:f80d034ed481 96 float getZaxisAngle();
number_key 1:60d4e2eb6952 97
number_key 2:a93909601341 98 private:
number_key 0:f80d034ed481 99 char *getdata(char registar);
number_key 2:a93909601341 100 };
number_key 0:f80d034ed481 101
number_key 2:a93909601341 102 #endif