Revision 4:d477e0b6630a, committed 2017-03-09

Comitter:

fadi_lad

Date:

Thu Mar 09 17:00:02 2017 +0000

Parent:

3:0a077b7133e6

Commit message:

hello

Changed in this revision

--- a/MPU6050.cpp	Fri Feb 17 07:47:38 2017 +0000
+++ b/MPU6050.cpp	Thu Mar 09 17:00:02 2017 +0000
@@ -117,28 +117,28 @@
     data[2] = (int)(short)((temp[4]<<8) + temp[5]);
 }
 
-void MPU6050::getAccelero( float *data ) {
+void MPU6050::getAccelero( int *data ) {
     int temp[3];
     this->getAcceleroRaw(temp);
     if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_2G) {
-        data[0]=(float)temp[0] / 16384.0 * 9.81;
-        data[1]=(float)temp[1] / 16384.0 * 9.81;
-        data[2]=(float)temp[2] / 16384.0 * 9.81;
+        data[0]= temp[0] ;//(float)temp[0] / 16384.0 * 9.81;
+        data[1]= temp[1] ;//(float)temp[1] / 16384.0 * 9.81;
+        data[2]= temp[2] ;//(float)temp[2] / 16384.0 * 9.81;
         }
     if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_4G){
-        data[0]=(float)temp[0] / 8192.0 * 9.81;
-        data[1]=(float)temp[1] / 8192.0 * 9.81;
-        data[2]=(float)temp[2] / 8192.0 * 9.81;
+        data[0]= temp[0] ;//(float)temp[0] / 8192.0 * 9.81;
+        data[1]= temp[1] ;//(float)temp[1] / 8192.0 * 9.81;
+        data[2]= temp[2] ;//(float)temp[2] / 8192.0 * 9.81;
         }
     if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_8G){
-        data[0]=(float)temp[0] / 4096.0 * 9.81;
-        data[1]=(float)temp[1] / 4096.0 * 9.81;
-        data[2]=(float)temp[2] / 4096.0 * 9.81;
+        data[0]= temp[0] ; //(float)temp[0] / 4096.0 * 9.81;
+        data[1]= temp[1] ; //(float)temp[1] / 4096.0 * 9.81;
+        data[2]= temp[2] ; //(float)temp[2] / 4096.0 * 9.81;
         }
     if (currentAcceleroRange == MPU6050_ACCELERO_RANGE_16G){
-        data[0]=(float)temp[0] / 2048.0 * 9.81;
-        data[1]=(float)temp[1] / 2048.0 * 9.81;
-        data[2]=(float)temp[2] / 2048.0 * 9.81;
+        data[0]= temp[0] ; //(float)temp[0] / 2048.0 * 9.81;
+        data[1]= temp[1] ; //(float)temp[1] / 2048.0 * 9.81;
+        data[2]= temp[2] ; //(float)temp[2] / 2048.0 * 9.81;
         }
     
     #ifdef DOUBLE_ACCELERO
@@ -193,28 +193,28 @@
     data[2] = (int)(short)((temp[4]<<8) + temp[5]);
 }
 
-void MPU6050::getGyro( float *data ) {
+void MPU6050::getGyro( int *data ) {
     int temp[3];
     this->getGyroRaw(temp);
     if (currentGyroRange == MPU6050_GYRO_RANGE_250) {
-        data[0]=(float)temp[0] / 7505.7;
-        data[1]=(float)temp[1] / 7505.7;
-        data[2]=(float)temp[2] / 7505.7;
+        data[0]= temp[0] ;//(float)temp[0] / 7505.7;
+        data[1]= temp[1] ;//(float)temp[1] / 7505.7;
+        data[2]= temp[2] ;//(float)temp[2] / 7505.7;
         }
     if (currentGyroRange == MPU6050_GYRO_RANGE_500){
-        data[0]=(float)temp[0] / 3752.9;
-        data[1]=(float)temp[1] / 3752.9;
-        data[2]=(float)temp[2] / 3752.9;
+        data[0]= temp[0] ;//(float)temp[0] / 3752.9;
+        data[1]= temp[1] ;//(float)temp[1] / 3752.9;
+        data[2]= temp[2] ;//(float)temp[2] / 3752.9;
         }
     if (currentGyroRange == MPU6050_GYRO_RANGE_1000){
-        data[0]=(float)temp[0] / 1879.3;;
-        data[1]=(float)temp[1] / 1879.3;
-        data[2]=(float)temp[2] / 1879.3;
+        data[0]=temp[0] ;//(float)temp[0] / 1879.3;;
+        data[1]=temp[1] ;//(float)temp[1] / 1879.3;
+        data[2]=temp[2] ;//(float)temp[2] / 1879.3;
         }
     if (currentGyroRange == MPU6050_GYRO_RANGE_2000){
-        data[0]=(float)temp[0] / 939.7;
-        data[1]=(float)temp[1] / 939.7;
-        data[2]=(float)temp[2] / 939.7;
+        data[0]= temp[0] ; //(float)temp[0] / 939.7;
+        data[1]= temp[1] ;//(float)temp[1] / 939.7;
+        data[2]= temp[2] ;//(float)temp[2] / 939.7;
         }
 }
 //--------------------------------------------------

--- a/MPU6050.h	Fri Feb 17 07:47:38 2017 +0000
+++ b/MPU6050.h	Thu Mar 09 17:00:02 2017 +0000
@@ -162,7 +162,7 @@
      *
      * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
      */   
-     void getAccelero( float *data );
+     void getAccelero( int *data );
      
      /**
      * Sets the Gyro full-scale range
@@ -208,7 +208,7 @@
      *
      * @param data - pointer to float array with length three: data[0] = X, data[1] = Y, data[2] = Z
      */   
-     void getGyro( float *data);     
+     void getGyro( int *data);     
      
      /**
      * Reads temperature data.