This is for our FYDP project. 2 MPU6050s are used
DMP/IMUDATA.h@4:05484073a641, 2015-03-22 (annotated)
- Committer:
- majik
- Date:
- Sun Mar 22 06:34:30 2015 +0000
- Revision:
- 4:05484073a641
- Parent:
- 0:21019d94ad33
BOTH IMUs WORK NOW. Put them in separate threads. Servo is included.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
majik | 0:21019d94ad33 | 1 | #ifndef IMUDATA_H |
majik | 0:21019d94ad33 | 2 | #define IMUDATA_H |
majik | 0:21019d94ad33 | 3 | |
majik | 0:21019d94ad33 | 4 | /**This struct is required for several function in DMP.cpp, ros_machine_interface.h, and reckon.cpp |
majik | 0:21019d94ad33 | 5 | */ |
majik | 0:21019d94ad33 | 6 | struct IMU_DATA |
majik | 0:21019d94ad33 | 7 | { |
majik | 0:21019d94ad33 | 8 | float ypr[3]; //save yaw/pitch/roll |
majik | 0:21019d94ad33 | 9 | float acc[3]; //save acceleration in x/y/z |
majik | 0:21019d94ad33 | 10 | float gyr[3]; //rate of rotation x/y/z |
majik | 0:21019d94ad33 | 11 | float quat[4]; //quaternion w/x/y/z |
majik | 0:21019d94ad33 | 12 | }; |
majik | 0:21019d94ad33 | 13 | |
majik | 0:21019d94ad33 | 14 | #endif |