Sheila Pham
/
IMU6050Ver1
Added for gyro and testing
IMU6050/IMUWheelchair.h
- Committer:
- jahutchi
- Date:
- 2019-07-03
- Revision:
- 13:d66766523196
File content as of revision 13:d66766523196:
#ifndef IMUWheelchair_H #define IMUWheelchair_H #include "filter.h" //#include "mbed.h" #include "math.h" #include <MPU6050.h> #define PI 3.141593 /*#define SDA D14 #define SCL D15*/ #define SDA PB_9 #define SCL PB_8 #define SAMPLEFREQ 50 #define CAL_TIME 3 class IMUWheelchair { public: //The constructor for this class IMUWheelchair(Serial* out, Timer* time); IMUWheelchair(PinName sda_pin, PinName scl_pin, Serial* out, Timer* time); //Set up the IMU, check if it connects void setup(); //Get the x-component of the angular acceleration double accel_x(); //Get the y-component of the angular acceleration double accel_y(); //Get the z-component of the angular acceleration double accel_z(); //Get the x-component of gyro, angular velocity double gyro_x(); //Get the y-component of gyro, angular velocity double gyro_y(); //Get the z-component of gyro, angular velocity double gyro_z(); //Magnometer to find angle relative to North to compare to gyroscope //double angle_north(); //Get the YAW, or angle (theta), direction facing double yaw(); //Get the pitch, (Up and down component) double pitch(); //Get the roll, the tilt double roll(); MPU6050* imu; //The IMU we're testing from, MPU6050 private: Serial* usb; //the connection port Timer* t;//to calculate the time float accelData[3]; // stores the angular acceleration component float gyroData[3]; //stores the gyro data x,y,z float* accelD; //Pointer that points to either accelData float* gyroD; //Ptr to the gyroData array float angleData[3]; //Contains the pitch, roll, yaw angle float* angleD;//Ptr to angleData array void calibrate_yaw(); bool start; }; #endif