Diff: Gyroscope.h

Revision:

0:d884c7453c85

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Gyroscope.h	Tue May 21 13:50:20 2013 +0000
@@ -0,0 +1,50 @@
+#ifndef GYROSCOPE_H
+#define GYROSCOPE_H
+
+#include "ITG3205.h"
+
+#define PI  3.14159265
+
+class Gyroscope
+{
+    public:
+        Gyroscope(ITG3205* gyroHardware, float sensitivity, float dataRate);
+        ~Gyroscope(void);
+        
+        void updateZeroRates();
+        
+        void update();
+        void update(int samplesSize, int sampleDataRate);
+        
+        void resetAngles();
+        
+        float getRadiansX();
+        float getRadiansY();
+        float getRadiansZ();
+        
+        float getDegreesX();
+        float getDegreesY();
+        float getDegreesZ();
+        
+        float getAngleX();
+        float getAngleY();
+        float getAngleZ();
+    
+    private:
+        ITG3205* gyroHardware;
+    
+        float sensitivity;
+        float dataRate;
+        
+        float zeroRateX, zeroRateY, zeroRateZ;
+        
+        float rawX;
+        float rawY;
+        float rawZ;
+        
+        float angleX;
+        float angleY;
+        float angleZ;
+};
+
+#endif /* GYROSCOPE_H */