Diff: MPU6050.h

Revision:

0:70eb7a2966f1

diff -r 000000000000 -r 70eb7a2966f1 MPU6050.h
--- /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
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