IMU6050.cpp

00001 #include "IMU6050.h"
00002 
00003 IMU6050::IMU6050(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time){
00004     usb = out;
00005     t = time;
00006     //imu = new BNO055(sda_pin, scl_pin);
00007     
00008     accelD = accelData;
00009     gyroD = gyroData;
00010 }
00011 
00012 void IMU6050::setup() {
00013     
00014     
00015     
00016     //timer
00017     t->start();
00018 }
00019 
00020 //Get the x component of the angular acceleration from IMU. Stores the component
00021 //in a float array
00022 //Returns a double, the value of the x-acceleration (m/s^2)
00023 double IMU6050::accel_x() {  
00024     imu -> getAccelero(accelD); //Change the values in accelerationArray
00025     return (double)accelData[0];
00026 }
00027 
00028 //Get the y component of the angular acceleration from IMU. Stores the component
00029 //in a float array
00030 //Returns a double, the value of the y-acceleration (m/s^2)
00031 double IMU6050::accel_y() {
00032     imu -> getAccelero(accelD); //Change the values in accelerationArray
00033     return (double)accelData[1];   
00034 }
00035 
00036 //Get the z component of the angular acceleration from IMU. Stores the component
00037 //in a float array
00038 //Returns a double, the value of the z-acceleration (m/s^2)
00039 double IMU6050::accel_z() {
00040     imu -> getAccelero(accelD); //Change the values in accelerationArray
00041     return (double)accelData[2];
00042 }
00043 
00044 //Get the x component of the angular velocity from IMU's gyroscope. Stores the 
00045 //component in a float array
00046 //Returns a double, the value of the x-angular velocity (rad/s)
00047 double IMU6050::gyro_x() {
00048     imu -> getGyro(gyroD); //Change the values in gyroArray
00049     return (double)gyroData[0];
00050     
00051 }
00052 
00053 //Get the y component of the angular velocity from IMU's gyroscope. Stores the 
00054 //component in a float array
00055 //Returns a double, the value of the y-angular velocity (rad/s)
00056 double IMU6050::gyro_y() {
00057     imu -> getGyro(gyroD); //Change the values in gyroArray
00058     return (double)gyroData[1];
00059     
00060 }
00061 
00062 //Get the z component of the angular velocity from IMU's gyroscope. Stores the 
00063 //component in a float array
00064 //Returns a double, the value of the z-angular velocity (rad/s)
00065 double IMU6050::gyro_z() {
00066     imu -> getGyro(gyroD); //Change the values in gyroArray
00067     return (double)gyroData[2];
00068 }
00069 
00070 //Get the yaw, or the angle turned at a certain time interval
00071 //Return double, the angle or yaw, (degree)
00072 
00073 /*
00074 double IMU6050::yaw() {
00075     
00076     imu -> computeAngle();
00077     return
00078 }
00079 
00080 double IMU6050::pitch() {
00081     
00082 }
00083 
00084 double IMU6050::roll() {
00085     
00086 }
00087 
00088 */