ITG3200 from BlazeX
ITG3200.h
- Committer:
- caroe
- Date:
- 2012-05-30
- Revision:
- 0:a3a0caa8e802
File content as of revision 0:a3a0caa8e802:
#pragma once //I2C Adresse, entweder 0x68 oder 0x69, abhaengig von Pin AD0 #define ITG3200_ADRESS 0x68 //Gyro-Rohdaten in Radiant pro Sekunde umrechnen const float fConvRPS= 1.2141420883e-3; class ITG3200 { protected: I2C & I2CBus; Timer & GlobalTime; public: //Offset float Offset[3]; //Drehgeschwindigkeit um alle drei Achsen short RawRate[3]; //Rohdaten float Rate[3]; //kalibrierte Drehraten in Radiant pro Sekunde //Initialisieren ITG3200(I2C & I2CBus_, Timer & GlobalTime_); void Init(); private: //Rohdaten lesen void ReadRawData(); public: //Update-Methode void Update(); //Kalibrieren void Calibrate(int ms); };