Diff: BroBot_IMU.h

Revision:

4:2512939c10f0

Parent:

3:2f76ffbc5cef

Child:

6:62cdb7482b50

diff -r 2f76ffbc5cef -r 2512939c10f0 BroBot_IMU.h
--- a/BroBot_IMU.h	Wed Oct 12 05:04:10 2016 +0000
+++ b/BroBot_IMU.h	Tue Oct 18 20:44:21 2016 +0000
@@ -1,7 +1,8 @@
 //BroBot_IMU.h
 // Contains everyting needed to interface with the IMU for BroBot
-
-#define ANGLE_OFFSET 105
+//Source links: https: developer.mbed.org/users/Sissors/code/MPU6050/docs/5c63e20c50f3/classMPU6050.html
+// https://developer.mbed.org/users/paulbartell/code/MPU6050-DMP/file/95449a48c5c0/MPU6050_6Axis_MotionApps20.h
+#define ANGLE_OFFSET 107
 
 // class default I2C address is 0x68
 // specific I2C addresses may be passed as a parameter here
@@ -18,7 +19,8 @@
 uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
 uint16_t fifoCount;     // count of all bytes currently in FIFO
 uint8_t fifoBuffer[64]; // FIFO storage buffer
-
+float dAngle;
+float new_angle;
 // Orientation/motion vars
 Quaternion q;           // [w, x, y, z]         quaternion container
 
@@ -58,6 +60,7 @@
 // ===               INTERRUPT DETECTION ROUTINE                ===
 // ================================================================
 volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
+Serial pc1(USBTX, USBRX);
 void dmpDataReady()
 {
     mpuInterrupt = true;