Corrected header file include guards.
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mpu6000_spi Class Reference
mpu6000_spi class. More...
#include <MPU6000.h>
Public Member Functions | |
float | getAccTilt () |
Collects torso tilt from vertical using accelerometer only. | |
int | whoamiCheck () |
Masks current whoami() value against expected value. | |
float | angle_y () |
Combines gyro and accelerometer data to find acceleration. | |
float | rereadAngle_y () |
Finds y acceleration without sampling IMU. |
Detailed Description
mpu6000_spi class.
Used as the driver for the MPU 6000 IMU. Documentation is provided for code written in HEL.
Definition at line 45 of file MPU6000.h.
Member Function Documentation
float angle_y | ( | ) |
Combines gyro and accelerometer data to find acceleration.
- Returns:
- Acceleration in y.
Definition at line 408 of file MPU6000.cpp.
float getAccTilt | ( | ) |
Collects torso tilt from vertical using accelerometer only.
- Returns:
- Tilt angle relative to vertical
Definition at line 223 of file MPU6000.cpp.
float rereadAngle_y | ( | ) |
Finds y acceleration without sampling IMU.
- Returns:
- Acceleration in y.
Definition at line 425 of file MPU6000.cpp.
int whoamiCheck | ( | ) |
Masks current whoami() value against expected value.
High = Safe.
- Returns:
- 0 is safe 1 is unsafe
Low = Unsafe
Definition at line 215 of file MPU6000.cpp.
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