Diff: BMX055.h

Revision:

3:58349cbf9ed9

Parent:

1:43c83e461ea4

--- a/BMX055.h	Tue Aug 25 17:28:06 2020 +0000
+++ b/BMX055.h	Mon Aug 31 11:21:16 2020 +0000
@@ -1,86 +1,17 @@
-/*
-宣言方法
-BMX055 bmx(SDA_pin,SCL_pin);
-
-bmx.getAcc();
-bmx.getGyro();
-bmx.getMag();    で値をゲット！
-
-値は
-bmx.accel[3];
-bmx.gyroscope[3];
-bmx.magnet[3];      に入っている！
-
-
-
-用例-----------------------------------------------------------
-#include "mbed.h"
-#include "BMX055.h"
-
-
-BMX055 bmx(D14,D15);  //SDA SCL
-DigitalOut myled(LED1);
-DigitalIn sw(PC_13);
-Timer t;
-
-int main() {
-    float   preAngle=0, AngGyr=0, gy=0, acc[2]={0}, angleAccel=0;
-    int angle=0, use_angle=0;
-    const double dt = 0.01;
-    
-    printf("\r\nrun\r\n");
-    
-    while(sw==0){}
-    while(sw==1){}
-    while(1) {
-        
-//        getAcc(accel);
-//        printf("%2.4f, %2.4f, %2.4f\r\n",(accel[0]/512)*9.8,(accel[1]/512)*9.8,(accel[2]/512)*9.8);
-//        getGyro(gyroscope);
-//        printf("%2.4f, %2.4f, %2.4f\r\n",gyroscope[0]*125/2048,gyroscope[1]*125/2048,gyroscope[2]*125/2048);       
-//        getMag(magnet);
-//        printf("%2.4f, %2.4f, %2.4f\r\n",magnet[0],magnet[1],magnet[2]);
-
-        bmx.getGyro();
-        
-        while(sw==0){
-            angle=0; 
-            use_angle=0;
-            printf("Setting now!\r\n");
-        }
-        
-        gy=bmx.gyroscope[2]*125/2048; 
-        angleAccel=bmx.gyroscope[2]*125/2560;
-        AngGyr = preAngle+gy*dt; 
-        angle = (int)(0.905*AngGyr+0.09*angleAccel);   //回転の検知幅小さくすると遅いのができて、大きくすると早いのができる
-                                                    //回転の検知制度を調整:上と反比例
-        use_angle += angle;
-        
-        printf("%3d\r\n", use_angle/48);
-        preAngle=angle;
-        acc[1]=acc[0];
-
-        wait(dt); 
-    }    
-}
-----------------------------------------------------------------------
-回転角がわかるよV
-*/
-
 #ifndef BMX055_H_
 #define BMX055_H_
 
-#define ACC 0x19<<1
+#define ACC  0x19<<1
 #define GYRO 0x69<<1
-#define MAG 0x13<<1
+#define MAG  0x13<<1
 
 class BMX055
 {
     public:
         BMX055(PinName SDA, PinName SCL);
-        float accel[3];
-        float gyroscope[3];
-        float magnet[3];
+        int accel[3];
+        int gyroscope[3];
+        int magnet[3];
         void getAcc(void);
         void getGyro(void);
         void getMag(void);