Tyler Weaver
/
ITG3200
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Fork of
ITG3200
by 
James Watanabe
Diff: ITG3200.cpp
- Revision:
- 4:155c44407af5
- Parent:
- 3:eea9733ca427
- Child:
- 5:0a0315f0f34e
--- a/ITG3200.cpp Wed Sep 12 14:37:34 2012 +0000
+++ b/ITG3200.cpp Wed Sep 12 15:23:29 2012 +0000
@@ -1,4 +1,5 @@
/**
+ * @file ITG3200.cpp
* @author Aaron Berk
*
* @section LICENSE
@@ -195,9 +196,9 @@
}
-int ITG3200::getRawTemperature(void){
+int ITG3200::getWord(int regi){
- char tx = TEMP_OUT_H_REG;
+ char tx = regi;
char rx[2];
i2c_.write(I2C_ADDRESS, &tx, 1);
@@ -220,51 +221,6 @@
}
-int ITG3200::getGyroX(void){
-
- char tx = GYRO_XOUT_H_REG;
- char rx[2];
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
-
- int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
-
- return output;
-
-}
-
-int ITG3200::getGyroY(void){
-
- char tx = GYRO_YOUT_H_REG;
- char rx[2];
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
-
- int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
-
- return output;
-
-}
-
-int ITG3200::getGyroZ(void){
-
- char tx = GYRO_ZOUT_H_REG;
- char rx[2];
-
- i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
-
- i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
-
- int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
-
- return output;
-
-}
-
void ITG3200::getRawGyroXYZ(int readings[3]){
char tx = GYRO_XOUT_H_REG;