Minh Nguyen
/
MPU6050
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Diff: MPU6050.cpp
- Revision:
- 8:b1570b99df9e
- Parent:
- 7:56e591a74939
- Child:
- 9:898effccce30
--- a/MPU6050.cpp Fri Feb 13 01:04:17 2015 +0000
+++ b/MPU6050.cpp Fri Feb 13 01:16:00 2015 +0000
@@ -202,6 +202,21 @@
angle[Z_AXIS] = angle[Z_AXIS] + GYRO_SCALE*gyro[Z_AXIS]*(*currTime-*prevTime); //this is Yaw hopefully :D
//Y = atan2(rawY,rawZ) * 180 / PI; //This spits out values between -180 to 180 (360 degrees)
}
+
+void MPU6050::enableInt( void )
+{
+ char temp;
+ temp = this->read(MPU6050_RA_INT_ENABLE);
+ temp |= 0x01;
+ this->write(MPU6050_RA_INT_ENABLE, temp);
+}
+void MPU6050::disableInt ( void )
+{
+ char temp;
+ temp = this->read(MPU6050_RA_INT_ENABLE);
+ temp &= 0xFE;
+ this->write(MPU6050_RA_INT_ENABLE, temp);
+}
//--------------------------------------------------
//------------------Gyroscope-----------------------
//--------------------------------------------------