Diff: IMU6050/IMU6050.h

Revision:

13:d66766523196

Parent:

12:6efce6d008f8

--- a/IMU6050/IMU6050.h	Wed Jul 03 17:56:22 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,74 +0,0 @@
-#ifndef IMU6050_H
-#define IMU6050_H
-
-#include "filter.h"
-//#include  "mbed.h"
-#include  "math.h"
-#include  <MPU6050.h>
-
-#define PI 3.141593
-
-/*#define SDA D14
-#define SCL D15*/
-#define SDA PB_9
-#define SCL PB_8
-#define SAMPLEFREQ 50
-#define CAL_TIME 3
-
-class IMU6050 {
-    public:
-        //The constructor for this class
-        IMU6050(Serial* out, Timer* time);
-        IMU6050(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time);
-        
-        //Set up the IMU, check if it connects
-        void setup();
-        
-        //Get the x-component of the angular acceleration
-        double accel_x();
-        
-        //Get the y-component of the angular acceleration
-        double accel_y();
-        
-        //Get the z-component of the angular acceleration
-        double accel_z();
-        
-        //Get the x-component of gyro, angular velocity
-        double gyro_x();
-        
-        //Get the y-component of gyro, angular velocity
-        double gyro_y();
-        
-        //Get the z-component of gyro, angular velocity
-        double gyro_z();
-        
-        //Magnometer to find angle relative to North to compare to gyroscope
-        //double angle_north();
-        
-        //Get the YAW, or angle (theta), direction facing
-        double yaw();
-        
-        //Get the pitch, (Up and down component)
-        double pitch();
-        
-        //Get the roll, the tilt
-        double roll();
-  
-        MPU6050* imu; //The IMU we're testing from, MPU6050  
-        
-    private:
-        Serial* usb; //the connection port
-        Timer* t;//to calculate the time
-        float accelData[3];   // stores the angular acceleration component
-        float gyroData[3];    //stores the gyro data x,y,z
-        float* accelD;        //Pointer that points to either accelData 
-        float* gyroD;         //Ptr to the gyroData array
-        
-        float angleData[3]; //Contains the pitch, roll, yaw angle
-        float* angleD;//Ptr to angleData array
-        
-        void calibrate_yaw();
-    
-};
-
-#endif
\ No newline at end of file