Jonathan Tam / Mbed 2 deprecated BalancingRobot_NOINTERRUPTS_OOP_PS3

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JON_IMU/IMU.h

Committer:
jcytam
Date:
2012-02-23
Revision:
0:0309bb86b703

File content as of revision 0:0309bb86b703:

#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