Hiroki Tanaka / Mbed 2 deprecated arrc_mbed

明石高専ロボ研 mbedライブラリ

Dependencies:   mbed

Dependents:   MDD_L432KC USB2RS485 pathtracking odometry ... more

gy521.hpp@3:28c77df7c0b6, 2020-01-06 (annotated)

Committer:
TanakaRobo
Date:
Mon Jan 06 11:06:26 2020 +0000
Revision:
3:28c77df7c0b6
Parent:
0:ca84ed7518f5
Child:
4:39ef4d91dc34
send not available

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 3:28c77df7c0b6 11 *ループ内で毎回
TanakaRobo 3:28c77df7c0b6 12 *<obj>.update()
TanakaRobo 3:28c77df7c0b6 13 *を呼び出してください。
TanakaRobo 0:ca84ed7518f5 14 */
TanakaRobo 0:ca84ed7518f5 15 //I2C i2c(SDA,SCL);
TanakaRobo 0:ca84ed7518f5 16 //GY521 gyro(i2c);
TanakaRobo 0:ca84ed7518f5 17
TanakaRobo 0:ca84ed7518f5 18 class GY521{
TanakaRobo 0:ca84ed7518f5 19 public:
TanakaRobo 0:ca84ed7518f5 20 GY521(I2C &i2c,int bit = 2,int calibration = 1000,double user_reg = 1.0);
TanakaRobo 0:ca84ed7518f5 21 double yaw;
TanakaRobo 0:ca84ed7518f5 22 //double temp;
TanakaRobo 3:28c77df7c0b6 23 void update();
TanakaRobo 0:ca84ed7518f5 24 void reset(int user);
TanakaRobo 0:ca84ed7518f5 25 void start(double start = 0){
TanakaRobo 0:ca84ed7518f5 26 yaw = start;
TanakaRobo 0:ca84ed7518f5 27 }
TanakaRobo 0:ca84ed7518f5 28 double checkStatus(int mode);
TanakaRobo 0:ca84ed7518f5 29 private:
TanakaRobo 0:ca84ed7518f5 30 I2C &i2c_;
TanakaRobo 0:ca84ed7518f5 31 Timer timer_;
TanakaRobo 0:ca84ed7518f5 32 int16_t gyroRead2(enum GY521RegisterMap reg);
TanakaRobo 0:ca84ed7518f5 33 double gyro_z_aver_;
TanakaRobo 0:ca84ed7518f5 34 double gyro_z_now_;
TanakaRobo 0:ca84ed7518f5 35 double gyro_z_prev_;
TanakaRobo 0:ca84ed7518f5 36 double gyro_LSB_;
TanakaRobo 0:ca84ed7518f5 37 double diff_yaw_;
TanakaRobo 0:ca84ed7518f5 38 int bit_;
TanakaRobo 0:ca84ed7518f5 39 int calibration_;
TanakaRobo 0:ca84ed7518f5 40 bool flag_;
TanakaRobo 0:ca84ed7518f5 41 };
TanakaRobo 0:ca84ed7518f5 42
TanakaRobo 0:ca84ed7518f5 43 #endif /* GY521_H */