ROME 2 Praktikum 4

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IMU Class Reference

IMU Class Reference

This is a device driver class for the ST LSM9DS1 inertial measurement unit. More...

#include <IMU.h>

Public Member Functions

 IMU (SPI &spi, DigitalOut &csAG, DigitalOut &csM)
 Creates an IMU object.
virtual ~IMU ()
 Deletes the IMU object.
float readAccelerationX ()
 Reads the acceleration in x-direction.
float readAccelerationY ()
 Reads the acceleration in y-direction.
float readAccelerationZ ()
 Reads the acceleration in z-direction.
float readGyroX ()
 Reads the gyroscope about the x-axis.
float readGyroY ()
 Reads the gyroscope about the y-axis.
float readGyroZ ()
 Reads the gyroscope about the z-axis.
float readMagnetometerX ()
 Reads the magnetic field in x-direction.
float readMagnetometerY ()
 Reads the magnetic field in y-direction.
float readMagnetometerZ ()
 Reads the magnetic field in z-direction.

Detailed Description

This is a device driver class for the ST LSM9DS1 inertial measurement unit.

Definition at line 17 of file IMU.h.


Constructor & Destructor Documentation

IMU ( SPI &  spi,
DigitalOut &  csAG,
DigitalOut &  csM 
)

Creates an IMU object.

Parameters:
spia reference to an spi controller to use.
csAGthe chip select output for the accelerometer and the gyro sensor.
csMthe chip select output for the magnetometer.

Definition at line 31 of file IMU.cpp.

~IMU (  ) [virtual]

Deletes the IMU object.

Definition at line 86 of file IMU.cpp.


Member Function Documentation

float readAccelerationX (  )

Reads the acceleration in x-direction.

Returns:
the acceleration in x-direction, given in [m/s2].

Definition at line 129 of file IMU.cpp.

float readAccelerationY (  )

Reads the acceleration in y-direction.

Returns:
the acceleration in y-direction, given in [m/s2].

Definition at line 147 of file IMU.cpp.

float readAccelerationZ (  )

Reads the acceleration in z-direction.

Returns:
the acceleration in z-direction, given in [m/s2].

Definition at line 165 of file IMU.cpp.

float readGyroX (  )

Reads the gyroscope about the x-axis.

Returns:
the rotational speed about the x-axis given in [rad/s].

Definition at line 183 of file IMU.cpp.

float readGyroY (  )

Reads the gyroscope about the y-axis.

Returns:
the rotational speed about the y-axis given in [rad/s].

Definition at line 201 of file IMU.cpp.

float readGyroZ (  )

Reads the gyroscope about the z-axis.

Returns:
the rotational speed about the z-axis given in [rad/s].

Definition at line 219 of file IMU.cpp.

float readMagnetometerX (  )

Reads the magnetic field in x-direction.

Returns:
the magnetic field in x-direction, given in [Gauss].

Definition at line 237 of file IMU.cpp.

float readMagnetometerY (  )

Reads the magnetic field in y-direction.

Returns:
the magnetic field in y-direction, given in [Gauss].

Definition at line 257 of file IMU.cpp.

float readMagnetometerZ (  )

Reads the magnetic field in z-direction.

Returns:
the magnetic field in z-direction, given in [Gauss].

Definition at line 275 of file IMU.cpp.