Sheila Pham / Mbed OS IMU6050Ver1

Added for gyro and testing

Diff: MPU6050.h

Revision:
7:56e591a74939
Parent:
6:502448484f91
Child:
8:b1570b99df9e
--- a/MPU6050.h	Thu Feb 12 21:01:38 2015 +0000
+++ b/MPU6050.h	Fri Feb 13 01:04:17 2015 +0000
@@ -80,6 +80,10 @@
 
 #define RADIANS_TO_DEGREES 180/3.1415926536
 
+#define ALPHA 0.97   //filter constant
+
+#define GYRO_SCALE 2.31 //scale the gyro
+
 /** MPU6050 IMU library.
   *
   * Example:
@@ -266,6 +270,7 @@
     //added aditional functions
      void getAcceleroAngle( float *data );
      void getOffset(float *accOffset, float *gyroOffset, int sampleSize);
+     void computeAngle (float *angle, float *accOffset, float *gyroOffset, float *currTime, float *prevTime);
         
      private: