Jonathan Tam
/
BalancingRobot_NOINTERRUPTS_OOP_PS3
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Diff: JON_IMU/IMU.h
- Revision:
- 1:0fd5faa076e7
- Parent:
- 0:0309bb86b703
--- a/JON_IMU/IMU.h Thu Feb 23 22:59:51 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,51 +0,0 @@
-#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