Minh Nguyen
/
MPU6050
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Diff: MPU6050.cpp
- Revision:
- 4:268d3fcb92ba
- Parent:
- 3:187152513f8d
- Child:
- 5:5873df1e58be
--- a/MPU6050.cpp Thu Feb 12 10:26:56 2015 +0000
+++ b/MPU6050.cpp Thu Feb 12 20:36:53 2015 +0000
@@ -148,6 +148,16 @@
#endif
}
+//function for getting angles from accelerometer
+void MPU6050::getAcceleroAngle( float *data ) {
+ int temp[3];
+ this->getAccelero(temp);
+
+ data[X_AXIS] = -1*atan (-1*temp[Y_AXIS]/sqrt(pow(temp[X_AXIS], 2) + pow(temp[Z_AXIS], 2))) * RADIANS_TO_DEGREES; //calculate angle x(pitch/roll?) from accellerometer reading
+ data[Y_AXIS] = -1*atan (temp[X_AXIS]/sqrt(pow(temp[Y_AXIS], 2) + pow(temp[Z_AXIS], 2))) * RADIANS_TO_DEGREES; //calculate angle x(pitch/roll?) from accellerometer reading
+ data[Z_AXIS] = atan (sqrt(pow(temp[X_AXIS], 2) + pow(temp[Y_AXIS], 2))/temp[Z_AXIS]) * RADIANS_TO_DEGREES; //not sure what is this one :D
+
+}
//--------------------------------------------------
//------------------Gyroscope-----------------------
//--------------------------------------------------