Jonathan Tam
/
BalancingRobot_NOINTERRUPTS_OOP_PS3
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Diff: JON_IMU/IMU.h
- Revision:
- 0:0309bb86b703
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/JON_IMU/IMU.h Thu Feb 23 22:59:51 2012 +0000
@@ -0,0 +1,51 @@
+#ifndef IMU_H
+#define IMU_H
+
+//****************************************************************************/
+// Includes
+//****************************************************************************/
+#include "mbed.h"
+
+//****************************************************************************/
+// Defines
+//****************************************************************************/
+#define Rad2Deg 57.2957795
+#define ZERO_G 1.65
+
+class IMU {
+public:
+
+ IMU(PinName XGyro, PinName YAccel, PinName ZAccel, PinName AZ);
+
+ void initialise(void);
+
+ void update(void);
+
+ float getRoll(void);
+ float getGyrox(void);
+ float getAccelx(void);
+
+private:
+ float X, Y, Z, Xrate, Yrate, Gyro_offset;
+ float GYROX_accom, GYROY_accom;
+ float AccAngleX, AccAngleY, AccAngleZ, GyroAngleX, GyroAngleY;
+ float Roll, Pitch;
+ Timer t;
+
+ AnalogIn _XGyro;
+ AnalogIn _YAccel;
+ AnalogIn _ZAccel;
+ DigitalOut _AZ;
+
+ float reading[100];
+ float w, median ;
+ long middle, samples;
+
+ void Median(void);
+};
+
+
+
+
+
+#endif
\ No newline at end of file