Dave Lu
IMU and knee angle. No servo yet
Fork of
FYDP_Final2
by 
Dave Lu
Diff: IMU/IMUDATA.h
- Revision:
- 6:b3baf0fe5b73
- Parent:
- 0:21019d94ad33
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU/IMUDATA.h Wed Mar 25 11:40:32 2015 +0000
@@ -0,0 +1,14 @@
+#ifndef IMUDATA_H
+#define IMUDATA_H
+
+/**This struct is required for several function in DMP.cpp, ros_machine_interface.h, and reckon.cpp
+*/
+struct IMU_DATA
+{
+ float ypr[3]; //save yaw/pitch/roll
+ float acc[3]; //save acceleration in x/y/z
+ float gyr[3]; //rate of rotation x/y/z
+ float quat[4]; //quaternion w/x/y/z
+};
+
+#endif
\ No newline at end of file