#include "mbed.h"
#include "UM7.h"

int16_t pitchRaw = 0;//divide by 91.02222
int16_t rollRaw = 0;
int16_t yawRaw = 0;
int16_t pitchDotRaw = 0;//divide by 16
int16_t rollDotRaw = 0;
int16_t yawDotRaw = 0;
int16_t accXRaw = 0;
int16_t accYRaw = 0;
int16_t accZRaw = 0;
float eulerTime = 0;

double pitch = 0.0;
double roll = 0.0;
double yaw = 0.0;
double rollDot = 0.0;
double pitchDot = 0.0;
double yawDot = 0.0;
double accX = 0.0;
double accY = 0.0;
double accZ = 0.0;

float readFloat(uint8_t * buffer, int offset);
void readIMU();
void IMUTest();


