Lakshmanan Gopalakrishnan / MPU6050

First trial of Balancing robot based on Kristian Lauszus's code.

Dependents:   Balancing_Robot_2

Fork of MPU6050 by Baser Kandehir

Files at this revision

API Documentation at this revision

Revision 1:a248e65a25cc, committed 2015-07-13

Comitter:
BaserK
Date:
Mon Jul 13 13:18:34 2015 +0000
Parent:
0:954f15bd95f1
Child:
2:3e0dfce73a58
Commit message:
PI and dt added;

Changed in this revision

MPU6050.h Show annotated file Show diff for this revision Revisions of this file 
--- a/MPU6050.h	Thu Jul 09 12:13:56 2015 +0000
+++ b/MPU6050.h	Mon Jul 13 13:18:34 2015 +0000
@@ -7,6 +7,9 @@
 #include "math.h"
 #include "MPU6050RegDef.h"
 
+#define PI 3.14159265359
+#define dt 0.005            // 200 Hz sampling period
+
 extern I2C i2c;             // extern the i2c in order to able to use from other files
 extern float aRes, gRes;