MPU
Diff: MPU6050.h
- Revision:
- 0:70eb7a2966f1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.h Wed May 16 10:27:51 2018 +0000 @@ -0,0 +1,26 @@ +#ifndef MPU6050_H +#define MPU6050_H + +#include "mbed.h" + + +#define slaveAddress 0x68<<1 +extern Serial pc; +extern I2C i2c; + +class MPU6050 +{ + protected: + public: + void writeByte(char pointer, char bit);//write byte to register + char readByte(char pointer);//read 1 byte from register + void readBytes(char pointer, char *bytes, char length);//read more than 1 byte from register + void whoAmI();//check the whoAmI register + void init();//initialize the mpu + void gyro(float *val);//read gyro value (in degree/sec) + void acc(float *val);//read acc value (in g) + void sleep(bool state); + void filtered(float old_p, float *val, float time, float offset, float sp);//complimentary filter +}; + +#endif \ No newline at end of file