Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

gyroReader.h

Committer:
soonerbot
Date:
2013-11-17
Revision:
4:adc885f4ab75
Parent:
1:c28fac16a109
Child:
7:3b2cf7efe5d1

File content as of revision 4:adc885f4ab75:

/*
*   File:       gyroReader.h
*   Author:     Shawn Swatek
*   Originated: Spring 2013
*   Revised:    3/29/13
*/

#ifndef __GYROREADER__
#define __GYROREADER__

#include "mbed.h"
//#include "rtos.h"
#include "dbgprint.h"

class gyroReader{
private:
    I2C accel;
    int gyroZcount;
    int gyroXcount;
    int zcal;
    int xcal;
    int polls;
    Ticker gyroUpkeepTicker;
    
    
    int startAccel();
    
    float checkAccel();
    
    int checkGyro(int& xacc, int& yacc, int& zacc);

public:

    int xmag,ymag,zmag;
    float checkCompass();
    
    void gyroUpkeep();
    gyroReader(PinName pinA, PinName pinB);
    
    void setLevel();
    void resetZ();
    int getZ();
    double getZDegrees();
    int getX();
    int getPolls(){ return polls;}
    int compZ(int compVal);
    void reset();
    void calibrate();
};

#endif