Minh Nguyen / MPU6050

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Diff: MPU6050.cpp

Revision:
6:502448484f91
Parent:
5:5873df1e58be
Child:
7:56e591a74939
diff -r 5873df1e58be -r 502448484f91 MPU6050.cpp
--- a/MPU6050.cpp	Thu Feb 12 20:56:04 2015 +0000
+++ b/MPU6050.cpp	Thu Feb 12 21:01:38 2015 +0000
@@ -150,7 +150,7 @@
 
 //function for getting angles from accelerometer
 void MPU6050::getAcceleroAngle( float *data ) {
-    int temp[3];
+    float 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
@@ -170,8 +170,8 @@
     
     for (int i = 0; i < sampleSize; i++)
     {
-        mpu.getGyro(gyro); //take real life measurements  
-        mpu.getAcceleroAngle (accAngle);
+        this->getGyro(gyro); //take real life measurements  
+        this->getAcceleroAngle (accAngle);
         
         for (int j = 0; j < 3; j++)
         {