Dave Lu
/
FYDP
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FYDP_Final2
by 
Dave Lu
Diff: Control/Sensor.hpp
- Revision:
- 9:7a8fb72f9a93
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Control/Sensor.hpp Wed Mar 25 14:34:23 2015 +0000
@@ -0,0 +1,25 @@
+#ifndef SENSOR_HPP
+#define SENSOR_HPP
+
+#include "robot.h"
+
+class Sensor {
+ float thighOffset;
+ float shinOffset;
+
+ float thighRaw() { return imu_data.ypr[1]; }
+ float shinRaw() { return imu2_data.ypr[1]; }
+
+ public:
+ Sensor() : thighOffset(0), shinOffset(0) {}
+ void calibrate() {
+ thighOffset = thighRaw();
+ shinOffset = shinRaw();
+ }
+ float time() { return getTime(); }
+ float thigh() { return imu_data.ypr[1] - thighOffset; }
+ float shin() { return imu2_data.ypr[1] - shinOffset; }
+};
+
+#endif // SENSOR_HPP
+