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@4:adc885f4ab75, 2013-11-17 (annotated)

Committer:
soonerbot
Date:
Sun Nov 17 21:04:47 2013 +0000
Revision:
4:adc885f4ab75
Parent:
1:c28fac16a109
Child:
7:3b2cf7efe5d1
Gyro working, compass giving values, and fiddling with control systems for driving forward/back

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soonerbot 1:c28fac16a109 1 /*
soonerbot 1:c28fac16a109 2 * File: gyroReader.h
soonerbot 1:c28fac16a109 3 * Author: Shawn Swatek
soonerbot 1:c28fac16a109 4 * Originated: Spring 2013
soonerbot 1:c28fac16a109 5 * Revised: 3/29/13
soonerbot 1:c28fac16a109 6 */
soonerbot 1:c28fac16a109 7
soonerbot 1:c28fac16a109 8 #ifndef __GYROREADER__
soonerbot 1:c28fac16a109 9 #define __GYROREADER__
soonerbot 1:c28fac16a109 10
soonerbot 1:c28fac16a109 11 #include "mbed.h"
soonerbot 1:c28fac16a109 12 //#include "rtos.h"
soonerbot 1:c28fac16a109 13 #include "dbgprint.h"
soonerbot 1:c28fac16a109 14
soonerbot 1:c28fac16a109 15 class gyroReader{
soonerbot 1:c28fac16a109 16 private:
soonerbot 1:c28fac16a109 17 I2C accel;
soonerbot 1:c28fac16a109 18 int gyroZcount;
soonerbot 1:c28fac16a109 19 int gyroXcount;
soonerbot 1:c28fac16a109 20 int zcal;
soonerbot 1:c28fac16a109 21 int xcal;
soonerbot 1:c28fac16a109 22 int polls;
soonerbot 1:c28fac16a109 23 Ticker gyroUpkeepTicker;
soonerbot 1:c28fac16a109 24
soonerbot 1:c28fac16a109 25
soonerbot 1:c28fac16a109 26 int startAccel();
soonerbot 1:c28fac16a109 27
soonerbot 1:c28fac16a109 28 float checkAccel();
soonerbot 1:c28fac16a109 29
soonerbot 1:c28fac16a109 30 int checkGyro(int& xacc, int& yacc, int& zacc);
soonerbot 1:c28fac16a109 31
soonerbot 1:c28fac16a109 32 public:
soonerbot 4:adc885f4ab75 33
soonerbot 4:adc885f4ab75 34 int xmag,ymag,zmag;
soonerbot 4:adc885f4ab75 35 float checkCompass();
soonerbot 4:adc885f4ab75 36
soonerbot 1:c28fac16a109 37 void gyroUpkeep();
soonerbot 1:c28fac16a109 38 gyroReader(PinName pinA, PinName pinB);
soonerbot 1:c28fac16a109 39
soonerbot 1:c28fac16a109 40 void setLevel();
soonerbot 1:c28fac16a109 41 void resetZ();
soonerbot 1:c28fac16a109 42 int getZ();
soonerbot 4:adc885f4ab75 43 double getZDegrees();
soonerbot 1:c28fac16a109 44 int getX();
soonerbot 1:c28fac16a109 45 int getPolls(){ return polls;}
soonerbot 4:adc885f4ab75 46 int compZ(int compVal);
soonerbot 1:c28fac16a109 47 void reset();
soonerbot 1:c28fac16a109 48 void calibrate();
soonerbot 1:c28fac16a109 49 };
soonerbot 1:c28fac16a109 50
soonerbot 1:c28fac16a109 51 #endif