3輪オムニホイール制御 GNCT, B team
Dependencies: nucleo_rotary_encoder
Diff: L3GD20_i2c/L3GD20_i2c.hpp
- Revision:
- 0:3bd8aecadafc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/L3GD20_i2c/L3GD20_i2c.hpp Thu Sep 28 10:50:37 2017 +0000 @@ -0,0 +1,47 @@ +#ifndef __L3GD20_I2C__ +#define __L3GD20_I2C__ + +#include "mbed.h" + +class l3gd20 +{ + I2C *i; + Timer t; + long pre_time_ms; + char addr; + const char ADDR_WHO_AM_I; + const char ADDR_CTRL_REG1; + const char ADDR_CTRL_REG2; + const char ADDR_CTRL_REG3; + const char ADDR_CTRL_REG4; + const char ADDR_CTRL_REG5; + const char ADDR_OUT_TEMP; + const char ADDR_STATUS_REG; + const char ADDR_OUT_X_L; + const char ADDR_OUT_X_H; + const char ADDR_OUT_Y_L; + const char ADDR_OUT_Y_H; + const char ADDR_OUT_Z_L; + const char ADDR_OUT_Z_H; + double decom; + double angleDeg[3]; + double omegaOffset[3]; + bool stpFlg; +public: + l3gd20(I2C *_i, bool SA0); + char read_reg(char reg); + void write_reg(char reg, char data); + bool who_am_i(); + void set_range(int dps); + int16_t get_raw_omega(char se); + void apply_offset(); + void start(); + void reset(); + void stop(); + double trapezoid_integr(double data, double ex_data, double period); + void renew_angle(); + void get_angle_deg(double *a); + void get_angle_rad(double *a); +}; + +#endif \ No newline at end of file