Diff: ITG3200.h

Revision:

1:1208ffc3ace9

Parent:

0:a3a0caa8e802

Child:

2:044664f2cc01

--- a/ITG3200.h	Wed May 30 10:42:14 2012 +0000
+++ b/ITG3200.h	Wed Aug 15 01:33:01 2012 +0000
@@ -1,10 +1,15 @@
 #pragma once
 
-//I2C Adresse, entweder 0x68 oder 0x69, abhaengig von Pin AD0
-#define ITG3200_ADRESS 0x68
+//I2C address is either 0x68 or 0x69 , depending on pin AD0, check block diagram for your device
+#define ITG3200_ADRESS 0x69
 
-//Gyro-Rohdaten in Radiant pro Sekunde umrechnen
-const float fConvRPS= 1.2141420883e-3;
+//Convert gyro raw data to radians per second, 1 degree/s = 0,017453293 rad/s.
+//The value is 0,017453293/LSB (+- 250 degrees/s)
+
+//const float fConvRPS= 2.6646248854961832061068702290076e-4; //For +- 500 degrees/s
+//const float fConvRPS= 1.2141420883e-3; //For +- 2000 degrees/s
+
+const float fConvRPS= 1.3323124427480916030534351145038e-4; //For +- 250 degrees/s
 
 class ITG3200 {
 protected:
@@ -15,24 +20,25 @@
     //Offset
     float Offset[3];
 
-    //Drehgeschwindigkeit um alle drei Achsen
-    short RawRate[3];       //Rohdaten
-    float Rate[3];          //kalibrierte Drehraten in Radiant pro Sekunde
+    //Rotational speed around all three axes
+    short RawRate[3];       //Raw data
+    float Rate[3];          //Calibrated rotation rate in radians per second
 
 
-    //Initialisieren
+    //Initialization
     ITG3200(I2C & I2CBus_, Timer & GlobalTime_);
     void Init();
 
 
 private:
-    //Rohdaten lesen
+    //Read raw data
     void ReadRawData();
 
 public:
-    //Update-Methode
+    //Update Method
     void Update();
+    char getInfo(void);
 
-    //Kalibrieren
+    //Calibration
     void Calibrate(int ms);
 };