Code for our FYDP -only one IMU works right now -RTOS is working
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IMUDATA.h
00001 #ifndef IMUDATA_H 00002 #define IMUDATA_H 00003 00004 /**This struct is required for several function in DMP.cpp, ros_machine_interface.h, and reckon.cpp 00005 */ 00006 struct IMU_DATA 00007 { 00008 float ypr[3]; //save yaw/pitch/roll 00009 float acc[3]; //save acceleration in x/y/z 00010 float gyr[3]; //rate of rotation x/y/z 00011 float quat[4]; //quaternion w/x/y/z 00012 }; 00013 00014 #endif
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