shinji sawai / omuni

3輪オムニホイール制御 GNCT, B team

Dependencies:   nucleo_rotary_encoder

L3GD20_i2c/L3GD20_i2c.hpp@0:3bd8aecadafc, 2017-09-28 (annotated)

Committer:
sawai
Date:
Thu Sep 28 10:50:37 2017 +0000
Revision:
0:3bd8aecadafc
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
sawai 0:3bd8aecadafc 1 #ifndef __L3GD20_I2C__
sawai 0:3bd8aecadafc 2 #define __L3GD20_I2C__
sawai 0:3bd8aecadafc 3
sawai 0:3bd8aecadafc 4 #include "mbed.h"
sawai 0:3bd8aecadafc 5
sawai 0:3bd8aecadafc 6 class l3gd20
sawai 0:3bd8aecadafc 7 {
sawai 0:3bd8aecadafc 8 I2C *i;
sawai 0:3bd8aecadafc 9 Timer t;
sawai 0:3bd8aecadafc 10 long pre_time_ms;
sawai 0:3bd8aecadafc 11 char addr;
sawai 0:3bd8aecadafc 12 const char ADDR_WHO_AM_I;
sawai 0:3bd8aecadafc 13 const char ADDR_CTRL_REG1;
sawai 0:3bd8aecadafc 14 const char ADDR_CTRL_REG2;
sawai 0:3bd8aecadafc 15 const char ADDR_CTRL_REG3;
sawai 0:3bd8aecadafc 16 const char ADDR_CTRL_REG4;
sawai 0:3bd8aecadafc 17 const char ADDR_CTRL_REG5;
sawai 0:3bd8aecadafc 18 const char ADDR_OUT_TEMP;
sawai 0:3bd8aecadafc 19 const char ADDR_STATUS_REG;
sawai 0:3bd8aecadafc 20 const char ADDR_OUT_X_L;
sawai 0:3bd8aecadafc 21 const char ADDR_OUT_X_H;
sawai 0:3bd8aecadafc 22 const char ADDR_OUT_Y_L;
sawai 0:3bd8aecadafc 23 const char ADDR_OUT_Y_H;
sawai 0:3bd8aecadafc 24 const char ADDR_OUT_Z_L;
sawai 0:3bd8aecadafc 25 const char ADDR_OUT_Z_H;
sawai 0:3bd8aecadafc 26 double decom;
sawai 0:3bd8aecadafc 27 double angleDeg[3];
sawai 0:3bd8aecadafc 28 double omegaOffset[3];
sawai 0:3bd8aecadafc 29 bool stpFlg;
sawai 0:3bd8aecadafc 30 public:
sawai 0:3bd8aecadafc 31 l3gd20(I2C *_i, bool SA0);
sawai 0:3bd8aecadafc 32 char read_reg(char reg);
sawai 0:3bd8aecadafc 33 void write_reg(char reg, char data);
sawai 0:3bd8aecadafc 34 bool who_am_i();
sawai 0:3bd8aecadafc 35 void set_range(int dps);
sawai 0:3bd8aecadafc 36 int16_t get_raw_omega(char se);
sawai 0:3bd8aecadafc 37 void apply_offset();
sawai 0:3bd8aecadafc 38 void start();
sawai 0:3bd8aecadafc 39 void reset();
sawai 0:3bd8aecadafc 40 void stop();
sawai 0:3bd8aecadafc 41 double trapezoid_integr(double data, double ex_data, double period);
sawai 0:3bd8aecadafc 42 void renew_angle();
sawai 0:3bd8aecadafc 43 void get_angle_deg(double *a);
sawai 0:3bd8aecadafc 44 void get_angle_rad(double *a);
sawai 0:3bd8aecadafc 45 };
sawai 0:3bd8aecadafc 46
sawai 0:3bd8aecadafc 47 #endif