Hiroki Tanaka / Mbed 2 deprecated L432KC_temp

nucleo-l432kcのテンプレートです。

Dependencies:   mbed ros_lib_kinetic

library/GY521.hpp@1:17051435cfc5, 2019-07-09 (annotated)

Committer:
TanakaRobo
Date:
Tue Jul 09 07:56:07 2019 +0000
Revision:
1:17051435cfc5
Parent:
0:a8a56075e947 
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaRobo 1:17051435cfc5 1 #ifndef GY521_H
TanakaRobo 1:17051435cfc5 2 #define GY521_H
TanakaRobo 0:a8a56075e947 3 #include "mbed.h"
TanakaRobo 0:a8a56075e947 4
TanakaRobo 1:17051435cfc5 5 /*GY521を使う。
TanakaRobo 1:17051435cfc5 6 *I2Cオブジェクトを渡す
TanakaRobo 1:17051435cfc5 7 *GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
TanakaRobo 1:17051435cfc5 8 *example
TanakaRobo 1:17051435cfc5 9 *L432KC : SDA = PB_7 , SCL = PB_6
TanakaRobo 1:17051435cfc5 10 *F446RE : SDA = PB_3 , SCL = PB_10
TanakaRobo 1:17051435cfc5 11 */
TanakaRobo 1:17051435cfc5 12 //I2C i2c(SDA,SCL);
TanakaRobo 1:17051435cfc5 13 //GY521 gyro(i2c);
TanakaRobo 0:a8a56075e947 14
TanakaRobo 0:a8a56075e947 15 class GY521{
TanakaRobo 0:a8a56075e947 16 public:
TanakaRobo 0:a8a56075e947 17 GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
TanakaRobo 0:a8a56075e947 18 double yaw;
TanakaRobo 0:a8a56075e947 19 //double temp;
TanakaRobo 0:a8a56075e947 20 void updata();
TanakaRobo 0:a8a56075e947 21 void reset(int user);
TanakaRobo 0:a8a56075e947 22 void start(double start = 0){
TanakaRobo 0:a8a56075e947 23 yaw = start;
TanakaRobo 0:a8a56075e947 24 }
TanakaRobo 0:a8a56075e947 25 double checkStatus(int mode);
TanakaRobo 0:a8a56075e947 26 private:
TanakaRobo 1:17051435cfc5 27 I2C &i2c_;
TanakaRobo 1:17051435cfc5 28 Timer timer_;
TanakaRobo 0:a8a56075e947 29 int16_t gyroRead2(enum GY521RegisterMap reg);
TanakaRobo 1:17051435cfc5 30 double gyro_z_aver_;
TanakaRobo 1:17051435cfc5 31 double gyro_z_now_;
TanakaRobo 1:17051435cfc5 32 double gyro_z_prev_;
TanakaRobo 1:17051435cfc5 33 double gyro_LSB_;
TanakaRobo 1:17051435cfc5 34 double diff_yaw_;
TanakaRobo 0:a8a56075e947 35 int bit_;
TanakaRobo 1:17051435cfc5 36 int calibration_;
TanakaRobo 1:17051435cfc5 37 bool flag_;
TanakaRobo 1:17051435cfc5 38 };
TanakaRobo 1:17051435cfc5 39
TanakaRobo 1:17051435cfc5 40 #endif /* GY521_H */